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-rw-r--r--modules/bullet/bullet_physics_server.cpp30
-rw-r--r--modules/bullet/bullet_physics_server.h7
-rw-r--r--modules/bullet/constraint_bullet.cpp12
-rw-r--r--modules/bullet/constraint_bullet.h4
-rw-r--r--modules/bullet/godot_ray_world_algorithm.h2
-rw-r--r--modules/bullet/godot_result_callbacks.h2
-rw-r--r--modules/bullet/rigid_body_bullet.cpp3
-rw-r--r--modules/bullet/rigid_body_bullet.h4
-rw-r--r--modules/bullet/shape_bullet.h16
-rw-r--r--modules/bullet/space_bullet.cpp6
-rw-r--r--modules/bullet/space_bullet.h6
11 files changed, 63 insertions, 29 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 51de4998fa..b646fc164d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -70,8 +70,8 @@
return RID(); \
}
-#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \
- body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies);
+#define AddJointToSpace(body, joint) \
+ body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
// <--------------- Joint creation asserts
btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
@@ -987,6 +987,20 @@ int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
return 0;
}
+void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND(!joint);
+
+ joint->disable_collisions_between_bodies(p_disable);
+}
+
+bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+ JointBullet *joint(joint_owner.get(p_joint));
+ ERR_FAIL_COND_V(!joint, false);
+
+ return joint->is_disabled_collisions_between_bodies();
+}
+
RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
@@ -1003,7 +1017,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1071,7 +1085,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1091,7 +1105,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1143,7 +1157,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1177,7 +1191,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &
}
JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1213,7 +1227,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 1c94428a2a..764ec2387c 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -154,7 +154,7 @@ public:
/// AREA_PARAM_GRAVITY_VECTOR
/// Otherwise you can set area parameters
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
- virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const;
+ virtual Variant area_get_param(RID p_area, AreaParameter p_param) const;
virtual void area_set_transform(RID p_area, const Transform &p_transform);
virtual Transform area_get_transform(RID p_area) const;
@@ -290,6 +290,9 @@ public:
virtual void joint_set_solver_priority(RID p_joint, int p_priority);
virtual int joint_get_solver_priority(RID p_joint) const;
+ virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
+ virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value);
@@ -301,7 +304,7 @@ public:
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B);
virtual Vector3 pin_joint_get_local_b(RID p_joint) const;
- virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B);
+ virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B);
virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value);
diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp
index b60e89b6fd..d15fb8de01 100644
--- a/modules/bullet/constraint_bullet.cpp
+++ b/modules/bullet/constraint_bullet.cpp
@@ -39,7 +39,8 @@
ConstraintBullet::ConstraintBullet() :
space(NULL),
- constraint(NULL) {}
+ constraint(NULL),
+ disabled_collisions_between_bodies(true) {}
void ConstraintBullet::setup(btTypedConstraint *p_constraint) {
constraint = p_constraint;
@@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) {
void ConstraintBullet::destroy_internal_constraint() {
space->remove_constraint(this);
}
+
+void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) {
+ disabled_collisions_between_bodies = p_disabled;
+
+ if (space) {
+ space->remove_constraint(this);
+ space->add_constraint(this, disabled_collisions_between_bodies);
+ }
+}
diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h
index 23be5a5063..ed3a318cbc 100644
--- a/modules/bullet/constraint_bullet.h
+++ b/modules/bullet/constraint_bullet.h
@@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet {
protected:
SpaceBullet *space;
btTypedConstraint *constraint;
+ bool disabled_collisions_between_bodies;
public:
ConstraintBullet();
@@ -57,6 +58,9 @@ public:
virtual void set_space(SpaceBullet *p_space);
virtual void destroy_internal_constraint();
+ void disable_collisions_between_bodies(const bool p_disabled);
+ _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
public:
virtual ~ConstraintBullet() {
bulletdelete(constraint);
diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h
index c716c1d88d..7383dad2bf 100644
--- a/modules/bullet/godot_ray_world_algorithm.h
+++ b/modules/bullet/godot_ray_world_algorithm.h
@@ -49,7 +49,7 @@ class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm {
bool m_isSwapped;
public:
- GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *m_world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped);
+ GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped);
virtual ~GodotRayWorldAlgorithm();
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut);
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index b18965a5b8..e1b0b1b421 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -205,6 +205,6 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
return m_pointCollisionObject;
}
- virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth);
+ virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
};
#endif // GODOT_RESULT_CALLBACKS_H
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 96a53f9f8b..f96218ef46 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -832,7 +832,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
void RigidBodyBullet::reload_space_override_modificator() {
- if (!is_active())
+ // Make sure that kinematic bodies have their total gravity calculated
+ if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
return;
Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index aff6056ad9..c4a9676bdd 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -262,12 +262,12 @@ public:
Variant get_state(PhysicsServer::BodyState p_state) const;
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
- void apply_central_impulse(const Vector3 &p_force);
+ void apply_central_impulse(const Vector3 &p_impulse);
void apply_torque_impulse(const Vector3 &p_impulse);
void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
void apply_central_force(const Vector3 &p_force);
- void apply_torque(const Vector3 &p_force);
+ void apply_torque(const Vector3 &p_torque);
void set_applied_force(const Vector3 &p_force);
Vector3 get_applied_force() const;
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 4a03c0f014..e04a3c808a 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -99,7 +99,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(const Plane &p_plane);
@@ -116,7 +116,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_radius);
@@ -133,7 +133,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -152,7 +152,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -169,7 +169,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -187,7 +187,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(PoolVector<Vector3> p_faces);
@@ -206,7 +206,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
@@ -222,7 +222,7 @@ 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_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_length);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index d60d8ba0e2..88d9c20eba 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -116,7 +116,7 @@ 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 *p_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) {
if (p_result_max <= 0)
return 0;
@@ -138,7 +138,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -979,6 +979,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
} else {
if (!l_has_penetration)
break;
+ else
+ has_penetration = true;
}
}
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 0aeb407dcc..2b97f0b274 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -199,12 +199,12 @@ private:
local_shape_most_recovered(0) {}
};
- bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
- bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, 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);
/// 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_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ 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);
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-28 03:32:07 +0000