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-rw-r--r--modules/bullet/area_bullet.cpp10
-rw-r--r--modules/bullet/area_bullet.h3
-rw-r--r--modules/bullet/bullet_physics_server.cpp38
-rw-r--r--modules/bullet/bullet_physics_server.h12
-rw-r--r--modules/bullet/bullet_utilities.h7
-rw-r--r--modules/bullet/collision_object_bullet.cpp168
-rw-r--r--modules/bullet/collision_object_bullet.h40
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp48
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h3
-rw-r--r--modules/bullet/godot_motion_state.h2
-rw-r--r--modules/bullet/godot_result_callbacks.cpp8
-rw-r--r--modules/bullet/rigid_body_bullet.cpp68
-rw-r--r--modules/bullet/rigid_body_bullet.h26
-rw-r--r--modules/bullet/shape_bullet.cpp17
-rw-r--r--modules/bullet/shape_owner_bullet.h9
-rw-r--r--modules/bullet/soft_body_bullet.cpp6
-rw-r--r--modules/bullet/soft_body_bullet.h7
-rw-r--r--modules/bullet/space_bullet.cpp39
18 files changed, 316 insertions, 195 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index a3ba3aa0bf..a0486443c2 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -58,7 +58,7 @@ AreaBullet::AreaBullet() :
isScratched(false) {
btGhost = bulletnew(btGhostObject);
- btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
+ reload_shapes();
setupBulletCollisionObject(btGhost);
/// Collision objects with a callback still have collision response with dynamic rigid bodies.
/// In order to use collision objects as trigger, you have to disable the collision response.
@@ -166,11 +166,9 @@ bool AreaBullet::is_monitoring() const {
return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
}
-void AreaBullet::main_shape_resetted() {
- if (get_main_shape())
- btGhost->setCollisionShape(get_main_shape());
- else
- btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
+void AreaBullet::main_shape_changed() {
+ CRASH_COND(!get_main_shape())
+ btGhost->setCollisionShape(get_main_shape());
}
void AreaBullet::reload_body() {
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index a6bf73906c..1c5962cfe3 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -142,7 +142,7 @@ public:
_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
- virtual void main_shape_resetted();
+ virtual void main_shape_changed();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);
@@ -157,6 +157,7 @@ public:
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);
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 53a38967c3..7bc731e75e 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -74,12 +74,6 @@
body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
// <--------------- Joint creation asserts
-btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
-
-btEmptyShape *BulletPhysicsServer::get_empty_shape() {
- return emptyShape;
-}
-
void BulletPhysicsServer::_bind_methods() {
//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest);
}
@@ -89,9 +83,7 @@ BulletPhysicsServer::BulletPhysicsServer() :
active(true),
active_spaces_count(0) {}
-BulletPhysicsServer::~BulletPhysicsServer() {
- bulletdelete(emptyShape);
-}
+BulletPhysicsServer::~BulletPhysicsServer() {}
RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
ShapeBullet *shape = NULL;
@@ -338,7 +330,7 @@ Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_
void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) {
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- return area->remove_shape(p_shape_idx);
+ return area->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer::area_clear_shapes(RID p_area) {
@@ -346,7 +338,7 @@ void BulletPhysicsServer::area_clear_shapes(RID p_area) {
ERR_FAIL_COND(!area);
for (int i = area->get_shape_count(); 0 < i; --i)
- area->remove_shape(0);
+ area->remove_shape_full(0);
}
void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
@@ -567,7 +559,7 @@ void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->remove_shape(p_shape_idx);
+ body->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer::body_clear_shapes(RID p_body) {
@@ -1479,6 +1471,22 @@ bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis
return generic_6dof_joint->get_flag(p_axis, p_flag);
}
+void BulletPhysicsServer::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
+ Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
+ generic_6dof_joint->set_precision(p_precision);
+}
+
+int BulletPhysicsServer::generic_6dof_joint_get_precision(RID p_joint) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
+ Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
+ return generic_6dof_joint->get_precision();
+}
+
void BulletPhysicsServer::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
@@ -1486,7 +1494,7 @@ void BulletPhysicsServer::free(RID p_rid) {
// Notify the shape is configured
for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
- static_cast<ShapeOwnerBullet *>(element->key())->remove_shape(shape);
+ static_cast<ShapeOwnerBullet *>(element->key())->remove_shape_full(shape);
}
shape_owner.free(p_rid);
@@ -1497,7 +1505,7 @@ void BulletPhysicsServer::free(RID p_rid) {
body->set_space(NULL);
- body->remove_all_shapes(true);
+ body->remove_all_shapes(true, true);
rigid_body_owner.free(p_rid);
bulletdelete(body);
@@ -1517,7 +1525,7 @@ void BulletPhysicsServer::free(RID p_rid) {
area->set_space(NULL);
- area->remove_all_shapes(true);
+ area->remove_all_shapes(true, true);
area_owner.free(p_rid);
bulletdelete(area);
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 4c52cace67..0cea3f5ba6 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -60,13 +60,6 @@ class BulletPhysicsServer : public PhysicsServer {
mutable RID_Owner<SoftBodyBullet> soft_body_owner;
mutable RID_Owner<JointBullet> joint_owner;
-private:
- /// This is used as replacement of collision shape inside a compound or main shape
- static btEmptyShape *emptyShape;
-
-public:
- static btEmptyShape *get_empty_shape();
-
protected:
static void _bind_methods();
@@ -382,6 +375,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag);
+ virtual void generic_6dof_joint_set_precision(RID p_joint, int precision);
+ virtual int generic_6dof_joint_get_precision(RID p_joint);
+
/* MISC */
virtual void free(RID p_rid);
@@ -404,6 +400,8 @@ public:
virtual void flush_queries();
virtual void finish();
+ virtual bool is_flushing_queries() const { return false; }
+
virtual int get_process_info(ProcessInfo p_info);
CollisionObjectBullet *get_collisin_object(RID p_object) const;
diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h
index 029eb6691a..553c1d0384 100644
--- a/modules/bullet/bullet_utilities.h
+++ b/modules/bullet/bullet_utilities.h
@@ -39,7 +39,8 @@
new cl
#define bulletdelete(cl) \
- delete cl; \
- cl = NULL;
-
+ { \
+ delete cl; \
+ cl = NULL; \
+ }
#endif
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 61834b8e3f..441fa7c8af 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -43,8 +43,7 @@
@author AndreaCatania
*/
-#define enableDynamicAabbTree true
-#define initialChildCapacity 1
+#define enableDynamicAabbTree false
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
@@ -60,7 +59,10 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
- bt_shape = shape->create_bt_shape(scale * body_scale);
+ if (active)
+ bt_shape = shape->create_bt_shape(scale * body_scale);
+ else
+ bt_shape = ShapeBullet::create_shape_empty();
}
}
@@ -72,7 +74,8 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
bt_collision_object(NULL),
body_scale(1., 1., 1.),
force_shape_reset(false),
- space(NULL) {}
+ space(NULL),
+ isTransformChanged(false) {}
CollisionObjectBullet::~CollisionObjectBullet() {
// Remove all overlapping, notify is not required since godot take care of it
@@ -90,7 +93,7 @@ bool equal(real_t first, real_t second) {
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
body_scale = p_new_scale;
- on_body_scale_changed();
+ body_scale_changed();
}
}
@@ -100,7 +103,7 @@ btVector3 CollisionObjectBullet::get_bt_body_scale() const {
return s;
}
-void CollisionObjectBullet::on_body_scale_changed() {
+void CollisionObjectBullet::body_scale_changed() {
force_shape_reset = true;
}
@@ -186,49 +189,33 @@ Transform CollisionObjectBullet::get_transform() const {
void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
bt_collision_object->setWorldTransform(p_global_transform);
+ notify_transform_changed();
}
const btTransform &CollisionObjectBullet::get_transform__bullet() const {
return bt_collision_object->getWorldTransform();
}
+void CollisionObjectBullet::notify_transform_changed() {
+ isTransformChanged = true;
+}
+
RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
CollisionObjectBullet(p_type),
mainShape(NULL) {
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
- remove_all_shapes(true);
+ remove_all_shapes(true, true);
if (mainShape && mainShape->isCompound()) {
bulletdelete(mainShape);
}
}
-/* Not used
-void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) {
- bool at_least_one_was_changed = false;
- btTransform old_transf;
- // Inverse because I need remove the shapes
- // Fetch all shapes to be sure to remove all shapes
- for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
- if (compoundShape->getChildShape(i) == p_old_shape) {
-
- old_transf = compoundShape->getChildTransform(i);
- compoundShape->removeChildShapeByIndex(i);
- compoundShape->addChildShape(old_transf, p_new_shape);
- at_least_one_was_changed = true;
- }
- }
-
- if (at_least_one_was_changed) {
- on_shapes_changed();
- }
-}*/
-
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
p_shape->add_owner(this);
- on_shapes_changed();
+ reload_shapes();
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
@@ -236,17 +223,31 @@ void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
- on_shapes_changed();
+ reload_shapes();
}
-void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
- ERR_FAIL_INDEX(p_index, get_shape_count());
+int RigidCollisionObjectBullet::get_shape_count() const {
+ return shapes.size();
+}
- shapes.write[p_index].set_transform(p_transform);
- on_shape_changed(shapes.write[p_index].shape);
+ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
+ return shapes[p_index].shape;
}
-void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
+btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
+ return shapes[p_index].bt_shape;
+}
+
+int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
+ const int size = shapes.size();
+ for (int i = 0; i < size; ++i) {
+ if (shapes[i].shape == p_shape)
+ return i;
+ }
+ return -1;
+}
+
+void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
@@ -255,35 +256,32 @@ void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
shapes.remove(i);
}
}
- on_shapes_changed();
+ reload_shapes();
}
-void RigidCollisionObjectBullet::remove_shape(int p_index) {
+void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
- on_shapes_changed();
+ reload_shapes();
}
-void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
+void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
- on_shapes_changed();
-}
-
-int RigidCollisionObjectBullet::get_shape_count() const {
- return shapes.size();
+ if (!p_force_not_reload)
+ reload_shapes();
}
-ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
- return shapes[p_index].shape;
-}
+void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
+ ERR_FAIL_INDEX(p_index, get_shape_count());
-btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
- return shapes[p_index].bt_shape;
+ shapes.write[p_index].set_transform(p_transform);
+ // Note, enableDynamicAabbTree is false because on transform change compound is destroyed
+ reload_shapes();
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
@@ -296,21 +294,31 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
return trs;
}
-void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) {
- const int size = shapes.size();
- for (int i = 0; i < size; ++i) {
- if (shapes[i].shape == p_shape) {
- bulletdelete(shapes.write[i].bt_shape);
- }
+void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
+ shapes.write[p_index].active = !p_disabled;
+ shape_changed(p_index);
+}
+
+bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
+ return !shapes[p_index].active;
+}
+
+void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
+ ShapeWrapper &shp = shapes.write[p_shape_index];
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
}
- on_shapes_changed();
+ bulletdelete(shp.bt_shape);
+ reload_shapes();
}
-void RigidCollisionObjectBullet::on_shapes_changed() {
+void RigidCollisionObjectBullet::reload_shapes() {
if (mainShape && mainShape->isCompound()) {
+ // Destroy compound
bulletdelete(mainShape);
}
+
mainShape = NULL;
ShapeWrapper *shpWrapper;
@@ -325,59 +333,45 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
force_shape_reset = false;
}
- btVector3 body_scale(get_bt_body_scale());
-
- if (!shape_count)
- return;
+ const btVector3 body_scale(get_bt_body_scale());
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
- if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
+ if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
- main_shape_resetted();
+ main_shape_changed();
return;
}
}
- btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity));
+ // Optimization not possible use a compound shape
+ btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
- // Insert all shapes into compound
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
- if (shpWrapper->active) {
- shpWrapper->claim_bt_shape(body_scale);
-
- btTransform scaled_shape_transform(shpWrapper->transform);
- scaled_shape_transform.getOrigin() *= body_scale;
- compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
- } else {
- compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape());
- }
+ shpWrapper->claim_bt_shape(body_scale);
+ btTransform scaled_shape_transform(shpWrapper->transform);
+ scaled_shape_transform.getOrigin() *= body_scale;
+ compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
- main_shape_resetted();
-}
-
-void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
- shapes.write[p_index].active = !p_disabled;
- on_shapes_changed();
-}
-
-bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
- return !shapes[p_index].active;
+ main_shape_changed();
}
-void RigidCollisionObjectBullet::on_body_scale_changed() {
- CollisionObjectBullet::on_body_scale_changed();
- on_shapes_changed();
+void RigidCollisionObjectBullet::body_scale_changed() {
+ CollisionObjectBullet::body_scale_changed();
+ reload_shapes();
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
+ }
bulletdelete(shp.bt_shape);
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index ea06cecb17..4a0c805ce5 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -132,6 +132,7 @@ 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;
public:
CollisionObjectBullet(Type p_type);
@@ -157,7 +158,7 @@ public:
void set_body_scale(const Vector3 &p_new_scale);
const Vector3 &get_body_scale() const { return body_scale; }
btVector3 get_bt_body_scale() const;
- virtual void on_body_scale_changed();
+ virtual void body_scale_changed();
void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
@@ -185,8 +186,9 @@ public:
virtual void reload_body() = 0;
virtual void set_space(SpaceBullet *p_space) = 0;
_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
- /// This is an event that is called when a collision checker starts
+
virtual void on_collision_checker_start() = 0;
+ virtual void on_collision_checker_end() = 0;
virtual void dispatch_callbacks() = 0;
@@ -197,7 +199,6 @@ public:
virtual void on_enter_area(AreaBullet *p_area) = 0;
virtual void on_exit_area(AreaBullet *p_area);
- /// GodotObjectFlags
void set_godot_object_flags(int flags);
int get_godot_object_flags() const;
@@ -205,11 +206,13 @@ public:
Transform 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();
};
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
protected:
- /// This could be a compound shape in case multi please collision are found
btCollisionShape *mainShape;
Vector<ShapeWrapper> shapes;
@@ -219,31 +222,34 @@ public:
_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
- /// This is used to set new shape or replace existing
- //virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
+ _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
+
void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
void set_shape(int p_index, ShapeBullet *p_shape);
- void set_shape_transform(int p_index, const Transform &p_transform);
- virtual void remove_shape(ShapeBullet *p_shape);
- void remove_shape(int p_index);
- void remove_all_shapes(bool p_permanentlyFromThisBody = false);
-
- virtual void on_shape_changed(const ShapeBullet *const p_shape);
- virtual void on_shapes_changed();
-
- _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
int get_shape_count() const;
ShapeBullet *get_shape(int p_index) const;
btCollisionShape *get_bt_shape(int p_index) const;
+
+ int find_shape(ShapeBullet *p_shape) const;
+
+ virtual void remove_shape_full(ShapeBullet *p_shape);
+ void remove_shape_full(int p_index);
+ void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
+
+ void set_shape_transform(int p_index, const Transform &p_transform);
+
const btTransform &get_bt_shape_transform(int p_index) const;
Transform get_shape_transform(int p_index) const;
void set_shape_disabled(int p_index, bool p_disabled);
bool is_shape_disabled(int p_index);
- virtual void main_shape_resetted() = 0;
- virtual void on_body_scale_changed();
+ virtual void shape_changed(int p_shape_index);
+ virtual void reload_shapes();
+
+ virtual void main_shape_changed() = 0;
+ virtual void body_scale_changed();
private:
void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a36f1123bc..812dcd2d56 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
@@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
+ break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
@@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
@@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
+ break;
default:
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
WARN_DEPRECATED
@@ -224,6 +263,13 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
-
return flags[p_axis][p_flag];
}
+
+void Generic6DOFJointBullet::set_precision(int p_precision) {
+ sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision));
+}
+
+int Generic6DOFJointBullet::get_precision() const {
+ return sixDOFConstraint->getOverrideNumSolverIterations();
+}
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
index 176127ed6c..848c3a10cd 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -68,6 +68,9 @@ public:
void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const;
+
+ void set_precision(int p_precision);
+ int get_precision() const;
};
#endif
diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h
index fa58e86589..5844ef8bf3 100644
--- a/modules/bullet/godot_motion_state.h
+++ b/modules/bullet/godot_motion_state.h
@@ -82,7 +82,7 @@ public:
virtual void setWorldTransform(const btTransform &worldTrans) {
bodyCurrentWorldTransform = worldTrans;
- owner->scratch();
+ owner->notify_transform_changed();
}
public:
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 3b44ab838e..0117bb375f 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -102,6 +102,9 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
}
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
+ if (count >= m_resultMax)
+ return 1; // not used by bullet
+
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
@@ -172,6 +175,9 @@ btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::Loc
}
bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
+ if (m_count >= m_resultMax)
+ return false;
+
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
@@ -249,6 +255,8 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
}
btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
+ if (m_count >= m_resultMax)
+ return 1; // not used by bullet
if (m_self_object == colObj0Wrap->getCollisionObject()) {
B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index d9a77885b3..9dd04100ed 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -265,13 +265,14 @@ RigidBodyBullet::RigidBodyBullet() :
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
+ can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
+ prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
isScratchedSpaceOverrideModificator(false),
- isTransformChanged(false),
previousActiveState(true),
force_integration_callback(NULL) {
@@ -279,9 +280,10 @@ RigidBodyBullet::RigidBodyBullet() :
// Initial properties
const btVector3 localInertia(0, 0, 0);
- btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia);
+ btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
+ reload_shapes();
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
@@ -292,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
+
+ prev_collision_traces = &collision_traces_1;
+ curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@@ -314,11 +319,9 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
}
}
-void RigidBodyBullet::main_shape_resetted() {
- if (get_main_shape())
- btBody->setCollisionShape(get_main_shape());
- else
- btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape());
+void RigidBodyBullet::main_shape_changed() {
+ CRASH_COND(!get_main_shape())
+ btBody->setCollisionShape(get_main_shape());
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
@@ -333,7 +336,7 @@ void RigidBodyBullet::reload_body() {
void RigidBodyBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
- isTransformChanged = false;
+ can_integrate_forces = false;
// Remove all eventual constraints
assert_no_constraints();
@@ -350,8 +353,8 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
}
void RigidBodyBullet::dispatch_callbacks() {
- /// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
- if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
+ /// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
+ if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
if (omit_forces_integration)
btBody->clearForces();
@@ -400,10 +403,6 @@ void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const String
}
}
-void RigidBodyBullet::scratch() {
- isTransformChanged = true;
-}
-
void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
@@ -415,7 +414,19 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
+
+ prev_collision_count = collisionsCount;
collisionsCount = 0;
+
+ // Swap array
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
+}
+
+void RigidBodyBullet::on_collision_checker_end() {
+ // Always true if active and not a static or kinematic body
+ isTransformChanged = 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 float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
@@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
+
++collisionsCount;
return true;
}
+bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
+ for (int i = prev_collision_count - 1; 0 <= i; --i) {
+ if ((*prev_collision_traces)[i] == p_other_object)
+ return true;
+ }
+ return false;
+}
+
void RigidBodyBullet::assert_no_constraints() {
if (btBody->getNumConstraintRefs()) {
WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body.");
@@ -520,7 +541,7 @@ real_t RigidBodyBullet::get_param(PhysicsServer::BodyParameter p_param) const {
void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
// This is necessary to block force_integration untile next move
- isTransformChanged = false;
+ can_integrate_forces = false;
destroy_kinematic_utilities();
// The mode change is relevant to its mass
switch (p_mode) {
@@ -777,8 +798,7 @@ void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transfor
// The kinematic use MotionState class
godotMotionState->moveBody(p_global_transform);
}
- btBody->setWorldTransform(p_global_transform);
- scratch();
+ CollisionObjectBullet::set_transform__bullet(p_global_transform);
}
const btTransform &RigidBodyBullet::get_transform__bullet() const {
@@ -791,14 +811,17 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::on_shapes_changed() {
- RigidCollisionObjectBullet::on_shapes_changed();
+void RigidBodyBullet::reload_shapes() {
+ RigidCollisionObjectBullet::reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
if (mainShape) {
- btVector3 inertia;
+ // inertia initialised zero here because some of bullet's collision
+ // shapes incorrectly do not set the vector in calculateLocalIntertia.
+ // Arbitrary zero is preferable to undefined behaviour.
+ btVector3 inertia(0, 0, 0);
mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
@@ -987,6 +1010,11 @@ void RigidBodyBullet::reload_kinematic_shapes() {
kinematic_utilities->copyAllOwnerShapes();
}
+void RigidBodyBullet::notify_transform_changed() {
+ RigidCollisionObjectBullet::notify_transform_changed();
+ can_integrate_forces = true;
+}
+
void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
btVector3 localInertia(0, 0, 0);
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 25dac30951..0696073d21 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -202,11 +202,18 @@ private:
real_t angularDamp;
bool can_sleep;
bool omit_forces_integration;
+ bool can_integrate_forces;
Vector<CollisionData> collisions;
+ Vector<RigidBodyBullet *> collision_traces_1;
+ Vector<RigidBodyBullet *> collision_traces_2;
+ Vector<RigidBodyBullet *> *prev_collision_traces;
+ Vector<RigidBodyBullet *> *curr_collision_traces;
+
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
int collisionsCount;
+ int prev_collision_count;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
@@ -216,7 +223,6 @@ private:
int countGravityPointSpaces;
bool isScratchedSpaceOverrideModificator;
- bool isTransformChanged;
bool previousActiveState; // Last check state
ForceIntegrationCallback *force_integration_callback;
@@ -231,21 +237,30 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
- virtual void main_shape_resetted();
+ virtual void main_shape_changed();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
- void scratch();
void scratch_space_override_modificator();
virtual void on_collision_filters_change();
virtual void on_collision_checker_start();
+ virtual void on_collision_checker_end();
+
void set_max_collisions_detection(int p_maxCollisionsDetection) {
+
+ ERR_FAIL_COND(0 > p_maxCollisionsDetection);
+
maxCollisionsDetection = p_maxCollisionsDetection;
+
collisions.resize(p_maxCollisionsDetection);
+ collision_traces_1.resize(p_maxCollisionsDetection);
+ collision_traces_2.resize(p_maxCollisionsDetection);
+
collisionsCount = 0;
+ prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
@@ -253,6 +268,7 @@ public:
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
+ bool was_colliding(RigidBodyBullet *p_other_object);
void assert_no_constraints();
@@ -302,7 +318,7 @@ public:
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
- virtual void on_shapes_changed();
+ virtual void reload_shapes();
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);
@@ -311,6 +327,8 @@ public:
/// Kinematic
void reload_kinematic_shapes();
+ virtual void notify_transform_changed();
+
private:
void _internal_set_mass(real_t p_mass);
};
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 4a2263407c..8bb621a863 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -34,6 +34,7 @@
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
+#include "core/project_settings.h"
#include "shape_owner_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
@@ -64,7 +65,8 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
void ShapeBullet::notifyShapeChanged() {
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
- static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this);
+ ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
+ owner->shape_changed(owner->find_shape(this));
}
}
@@ -400,18 +402,22 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
btVector3 supVec_1;
btVector3 supVec_2;
for (int i = 0; i < src_face_count; ++i) {
- G_TO_B(facesr[i * 3], supVec_0);
+ G_TO_B(facesr[i * 3 + 0], supVec_0);
G_TO_B(facesr[i * 3 + 1], supVec_1);
G_TO_B(facesr[i * 3 + 2], supVec_2);
- shapeInterface->addTriangle(supVec_0, supVec_1, supVec_2);
+ // Inverted from standard godot otherwise btGenerateInternalEdgeInfo generates wrong edge info
+ shapeInterface->addTriangle(supVec_2, supVec_1, supVec_0);
}
const bool useQuantizedAabbCompression = true;
meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression));
- btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap();
- btGenerateInternalEdgeInfo(meshShape, triangleInfoMap);
+
+ if (GLOBAL_DEF("physics/3d/smooth_trimesh_collision", false)) {
+ btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap();
+ btGenerateInternalEdgeInfo(meshShape, triangleInfoMap);
+ }
} else {
meshShape = NULL;
ERR_PRINT("The faces count are 0, the mesh shape cannot be created");
@@ -426,6 +432,7 @@ btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_
cs = ShapeBullet::create_shape_empty();
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
+ cs->setMargin(0);
return cs;
}
diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h
index 29d42d12f2..72ddbc482c 100644
--- a/modules/bullet/shape_owner_bullet.h
+++ b/modules/bullet/shape_owner_bullet.h
@@ -45,11 +45,10 @@ class CollisionObjectBullet;
/// E.G. BodyShape is a child of this
class ShapeOwnerBullet {
public:
- /// This is used to set new shape or replace existing
- //virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
- virtual void on_shape_changed(const ShapeBullet *const p_shape) = 0;
- virtual void on_shapes_changed() = 0;
- virtual void remove_shape(class ShapeBullet *p_shape) = 0;
+ virtual int find_shape(ShapeBullet *p_shape) const = 0;
+ virtual void shape_changed(int p_shape_index) = 0;
+ virtual void reload_shapes() = 0;
+ virtual void remove_shape_full(class ShapeBullet *p_shape) = 0;
virtual ~ShapeOwnerBullet() {}
};
#endif
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index f373ce5db4..94f350210f 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -72,12 +72,6 @@ void SoftBodyBullet::set_space(SpaceBullet *p_space) {
}
}
-void SoftBodyBullet::dispatch_callbacks() {}
-
-void SoftBodyBullet::on_collision_filters_change() {}
-
-void SoftBodyBullet::on_collision_checker_start() {}
-
void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index c775193584..d04bfca046 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -91,9 +91,10 @@ public:
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);
- virtual void dispatch_callbacks();
- virtual void on_collision_filters_change();
- virtual void on_collision_checker_start();
+ virtual void dispatch_callbacks() {}
+ virtual void on_collision_filters_change() {}
+ virtual void on_collision_checker_start() {}
+ virtual void on_collision_checker_end() {}
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index ba4c72f4c7..fed12cd5ed 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -175,7 +175,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
- space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
+ space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
r_closest_unsafe = 1.0;
r_closest_safe = 1.0;
@@ -540,17 +540,20 @@ void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
- // Notify all Collision objects the collision checker is started
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
+
+ // Notify all Collision objects the collision checker is started
for (int i = colObjArray.size() - 1; 0 <= i; --i) {
- CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer());
- assert(NULL != colObj);
- colObj->on_collision_checker_start();
+ static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_start();
}
SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo());
sb->check_ghost_overlaps();
sb->check_body_collision();
+
+ for (int i = colObjArray.size() - 1; 0 <= i; --i) {
+ static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_end();
+ }
}
BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
@@ -571,7 +574,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
- gjk_simplex_solver->setEqualVertexThreshold(0.f);
void *world_mem;
if (p_create_soft_world) {
@@ -650,7 +652,6 @@ void SpaceBullet::check_ghost_overlaps() {
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
AreaBullet *area;
- RigidCollisionObjectBullet *otherObject;
int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1);
/// For each areas
@@ -677,13 +678,17 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
- if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
- if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable())
- continue;
- } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
+ btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
+ RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
+
+ if (!area->is_transform_changed() && !otherObject->is_transform_changed())
continue;
- otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer());
+ if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
+ if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable())
+ continue;
+ } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
+ continue;
bool hasOverlap = false;
@@ -781,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
const int numContacts = contactManifold->getNumContacts();
+
+ /// Since I don't need report all contacts for these objects,
+ /// So report only the first
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
- // Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- if (pt.getDistance() <= 0.0) {
+ if (
+ pt.getDistance() <= 0.0 ||
+ bodyA->was_colliding(bodyB) ||
+ bodyB->was_colliding(bodyA)) {
+
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-01 21:58:46 +0000