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-rw-r--r--modules/bullet/collision_object_bullet.cpp11
-rw-r--r--modules/bullet/collision_object_bullet.h4
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp14
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp73
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h5
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp20
-rw-r--r--modules/bullet/pin_joint_bullet.cpp4
-rw-r--r--modules/bullet/rigid_body_bullet.cpp13
-rw-r--r--modules/bullet/slider_joint_bullet.cpp13
9 files changed, 100 insertions, 57 deletions
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index da3a4b73cf..88d4108f82 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -76,11 +76,17 @@ 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])) {
- G_TO_B(p_new_scale, body_scale);
+ body_scale = p_new_scale;
on_body_scale_changed();
}
}
+btVector3 CollisionObjectBullet::get_bt_body_scale() const {
+ btVector3 s;
+ G_TO_B(body_scale, s);
+ return s;
+}
+
void CollisionObjectBullet::on_body_scale_changed() {
}
@@ -160,6 +166,7 @@ void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
Transform CollisionObjectBullet::get_transform() const {
Transform t;
B_TO_G(get_transform__bullet(), t);
+ t.basis.scale(body_scale);
return t;
}
@@ -302,7 +309,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
}
}
- compoundShape->setLocalScaling(body_scale);
+ compoundShape->setLocalScaling(get_bt_body_scale());
compoundShape->recalculateLocalAabb();
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 51e48909e4..7d4659b64e 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -114,7 +114,7 @@ protected:
bool m_isStatic;
bool ray_pickable;
btCollisionObject *bt_collision_object;
- btVector3 body_scale;
+ Vector3 body_scale;
SpaceBullet *space;
VSet<RID> exceptions;
@@ -146,6 +146,8 @@ public:
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
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();
void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index 7ae5e79645..738835b910 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -37,11 +37,21 @@
ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
JointBullet() {
+
+ Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
+ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
btTransform btFrameA;
- G_TO_B(rbAFrame, btFrameA);
+ G_TO_B(scaled_AFrame, btFrameA);
+
if (rbB) {
+
+ Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
+ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
btTransform btFrameB;
- G_TO_B(rbBFrame, btFrameB);
+ G_TO_B(scaled_BFrame, btFrameB);
+
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 28928bd861..da09d4e12f 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -38,12 +38,20 @@
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
JointBullet() {
+ Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
+
+ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
btTransform btFrameA;
- G_TO_B(frameInA, btFrameA);
+ G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
+ Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
+
+ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
btTransform btFrameB;
- G_TO_B(frameInB, btFrameB);
+ G_TO_B(scaled_BFrame, btFrameB);
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
} else {
@@ -109,10 +117,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value;
+ limits_lower[0][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value;
+ limits_upper[0][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
@@ -124,10 +134,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value;
+ limits_lower[1][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value;
+ limits_upper[1][p_axis] = p_value;
+ set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
@@ -159,9 +171,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
ERR_FAIL_INDEX_V(p_axis, 3, 0.);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis];
+ return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis];
+ return limits_upper[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
@@ -169,9 +181,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit;
+ return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit;
+ return limits_upper[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
@@ -194,48 +206,35 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3);
+
+ flags[p_axis][p_flag] = p_value;
+
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
- if (p_value) {
- if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited
- sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
+ if (flags[p_axis][p_flag]) {
+ sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
} else {
- if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
- sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
+ sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
}
break;
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
- int angularAxis = 3 + p_axis;
- if (p_value) {
- if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
- sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
+ if (flags[p_axis][p_flag]) {
+ sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
} else {
- if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
- sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
+ sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
}
break;
- }
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value;
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
+ return;
}
}
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
- switch (p_flag) {
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
- return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
- return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
- case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
- return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
- sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
- default:
- WARN_PRINT("This flag is not supported by Bullet engine");
- return false;
- }
+
+ return flags[p_axis][p_flag];
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
index 0d47b823de..ba0ae08800 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -39,6 +39,11 @@ class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofConstraint *sixDOFConstraint;
+ // First is linear second is angular
+ Vector3 limits_lower[2];
+ Vector3 limits_upper[2];
+ bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
+
public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index d3288807b3..ee0d6707d6 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -37,12 +37,20 @@
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
JointBullet() {
+
+ Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
+ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
btTransform btFrameA;
- G_TO_B(frameA, btFrameA);
+ G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
+
+ Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
+ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
btTransform btFrameB;
- G_TO_B(frameB, btFrameB);
+ G_TO_B(scaled_BFrame, btFrameB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
@@ -58,14 +66,14 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c
btVector3 btPivotA;
btVector3 btAxisA;
- G_TO_B(pivotInA, btPivotA);
- G_TO_B(axisInA, btAxisA);
+ G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
+ G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
if (rbB) {
btVector3 btPivotB;
btVector3 btAxisB;
- G_TO_B(pivotInB, btPivotB);
- G_TO_B(axisInB, btAxisB);
+ G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
+ G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
} else {
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index 8c74fcbc94..665e825967 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -40,8 +40,8 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a
btVector3 btPivotA;
btVector3 btPivotB;
- G_TO_B(p_pos_a, btPivotA);
- G_TO_B(p_pos_b, btPivotB);
+ G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
+ G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
*p_body_b->get_bt_rigid_body(),
btPivotA,
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index dd2e17c110..669b2c3f0c 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -198,6 +198,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
const CollisionObjectBullet::ShapeWrapper *shape_wrapper;
+ btVector3 owner_body_scale(owner->get_bt_body_scale());
+
for (int i = shapes_count - 1; 0 <= i; --i) {
shape_wrapper = &shapes_wrappers[i];
if (!shape_wrapper->active) {
@@ -210,28 +212,29 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer::SHAPE_SPHERE: {
SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner->body_scale[0] + safe_margin);
+ kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner_body_scale[0] + safe_margin);
break;
}
case PhysicsServer::SHAPE_BOX: {
BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner->body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
+ kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner_body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
break;
}
case PhysicsServer::SHAPE_CAPSULE: {
CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner->body_scale[0] + safe_margin, capsule->get_height() * owner->body_scale[1] + safe_margin);
+
+ kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner_body_scale[0] + safe_margin, capsule->get_height() * owner_body_scale[1] + safe_margin);
break;
}
case PhysicsServer::SHAPE_CONVEX_POLYGON: {
ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices);
- kin_shape_ref->setLocalScaling(owner->body_scale + btVector3(safe_margin, safe_margin, safe_margin));
+ kin_shape_ref->setLocalScaling(owner_body_scale + btVector3(safe_margin, safe_margin, safe_margin));
break;
}
case PhysicsServer::SHAPE_RAY: {
RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner->body_scale[1] + safe_margin);
+ kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner_body_scale[1] + safe_margin);
break;
}
default:
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
index f1d60679ec..cfcd0b57f6 100644
--- a/modules/bullet/slider_joint_bullet.cpp
+++ b/modules/bullet/slider_joint_bullet.cpp
@@ -37,11 +37,20 @@
SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
+
+ Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
+ scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
btTransform btFrameA;
- G_TO_B(frameInA, btFrameA);
+ G_TO_B(scaled_AFrame, btFrameA);
+
if (rbB) {
+
+ Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
+ scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
btTransform btFrameB;
- G_TO_B(frameInB, btFrameB);
+ G_TO_B(scaled_BFrame, btFrameB);
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
} else {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 00:04:42 +0000