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-rw-r--r--modules/bullet/area_bullet.cpp24
-rw-r--r--modules/bullet/area_bullet.h4
-rw-r--r--modules/bullet/collision_object_bullet.cpp6
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp13
-rw-r--r--modules/bullet/godot_result_callbacks.cpp12
-rw-r--r--modules/bullet/space_bullet.cpp13
6 files changed, 40 insertions, 32 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index ec78cddb6a..bfb452d109 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -68,8 +68,9 @@ AreaBullet::AreaBullet() :
}
AreaBullet::~AreaBullet() {
- // Call "remove_all_overlapping_instantly();" is not necessary because the exit
- // signal are handled by godot, so just clear the array
+ // signal are handled by godot, so just clear without notify
+ for (int i = overlappingObjects.size() - 1; 0 <= i; --i)
+ overlappingObjects[i].object->on_exit_area(this);
}
void AreaBullet::dispatch_callbacks() {
@@ -122,24 +123,21 @@ void AreaBullet::scratch() {
isScratched = true;
}
-void AreaBullet::remove_all_overlapping_instantly() {
- CollisionObjectBullet *supportObject;
+void AreaBullet::clear_overlaps(bool p_notify) {
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- supportObject = overlappingObjects[i].object;
- call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED);
- supportObject->on_exit_area(this);
+ if (p_notify)
+ call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED);
+ overlappingObjects[i].object->on_exit_area(this);
}
overlappingObjects.clear();
}
-void AreaBullet::remove_overlapping_instantly(CollisionObjectBullet *p_object, bool p_notify) {
- CollisionObjectBullet *supportObject;
+void AreaBullet::remove_overlap(CollisionObjectBullet *p_object, bool p_notify) {
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- supportObject = overlappingObjects[i].object;
- if (supportObject == p_object) {
+ if (overlappingObjects[i].object == p_object) {
if (p_notify)
- call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED);
- supportObject->on_exit_area(this);
+ call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED);
+ overlappingObjects[i].object->on_exit_area(this);
overlappingObjects.remove(i);
break;
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 4104780de9..b2046c684e 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -150,9 +150,9 @@ public:
void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch();
- void remove_all_overlapping_instantly();
+ void clear_overlaps(bool p_notify);
// Dispatch the callbacks and removes from overlapping list
- void remove_overlapping_instantly(CollisionObjectBullet *p_object, bool p_notify);
+ void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
virtual void on_collision_filters_change();
virtual void on_collision_checker_start() {}
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 77f8df34cb..57e4db708e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -49,7 +49,7 @@
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
- G_TO_B(p_transform.get_basis().get_scale(), scale);
+ G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
G_TO_B(p_transform, transform);
UNSCALE_BT_BASIS(transform);
}
@@ -70,7 +70,7 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
CollisionObjectBullet::~CollisionObjectBullet() {
// Remove all overlapping, notify is not required since godot take care of it
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
- areasOverlapped[i]->remove_overlapping_instantly(this, /*Notify*/ false);
+ areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
}
destroyBulletCollisionObject();
@@ -158,7 +158,7 @@ int CollisionObjectBullet::get_godot_object_flags() const {
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
- set_body_scale(p_global_transform.basis.get_scale());
+ set_body_scale(p_global_transform.basis.get_scale_abs());
btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 151a79a69f..adfad7803f 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -138,6 +138,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.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][p_param]); // Reload bullet parameter
@@ -185,6 +191,10 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+ 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_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -232,6 +242,9 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
+ break;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
return;
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index caa3d677dd..197550d686 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -110,7 +110,7 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
return false;
- if (m_self_object->has_collision_exception(gObj))
+ if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
return false;
}
return true;
@@ -172,10 +172,7 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
result.shape = cp.m_index0;
}
- if (colObj)
- result.collider_id = colObj->get_instance_id();
- else
- result.collider_id = 0;
+ result.collider_id = colObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
result.rid = colObj->get_self();
++m_count;
@@ -250,10 +247,7 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
}
- if (colObj)
- m_result->collider_id = colObj->get_instance_id();
- else
- m_result->collider_id = 0;
+ m_result->collider_id = colObj->get_instance_id();
m_result->rid = colObj->get_self();
m_collided = true;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 51a76ff8c5..3a1f5d78dd 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -122,7 +122,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
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);
+ btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -202,7 +202,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -234,7 +234,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -996,7 +996,7 @@ public:
}
void reset() {
- result_collision_objects.empty();
+ result_collision_objects.clear();
}
};
@@ -1031,7 +1031,10 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
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_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()) || (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()))
+ 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()) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-23 10:45:19 +0000