diff options
Diffstat (limited to 'modules/bullet')
49 files changed, 446 insertions, 518 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 21bdcca18e..bfac0df5b0 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -7,6 +7,8 @@ env_bullet = env_modules.Clone() # Thirdparty source files +thirdparty_obj = [] + if env["builtin_bullet"]: # Build only version 2 for now (as of 2.89) # Sync file list with relevant upstream CMakeLists.txt for each folder. @@ -208,8 +210,16 @@ if env["builtin_bullet"]: env_thirdparty = env_bullet.Clone() env_thirdparty.disable_warnings() - env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) + env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources) + env.modules_sources += thirdparty_obj # Godot source files -env_bullet.add_source_files(env.modules_sources, "*.cpp") + +module_obj = [] + +env_bullet.add_source_files(module_obj, "*.cpp") +env.modules_sources += module_obj + +# Needed to force rebuilding the module files when the thirdparty library is updated. +env.Depends(module_obj, thirdparty_obj) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 01f068780d..c3bd84c329 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() { btGhost->setCollisionShape(get_main_shape()); } -void AreaBullet::do_reload_body() { +void AreaBullet::reload_body() { if (space) { space->remove_area(this); space->add_area(this); @@ -174,19 +174,17 @@ void AreaBullet::do_reload_body() { void AreaBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { - overlappingObjects.clear(); + clear_overlaps(false); isScratched = false; // Remove this object form the physics world - space->unregister_collision_object(this); space->remove_area(this); } space = p_space; if (space) { - space->register_collision_object(this); - reload_body(); + space->add_area(this); } } diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index 12272092f7..7cf666c119 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define AREABULLET_H #include "collision_object_bullet.h" -#include "core/vector.h" +#include "core/templates/vector.h" #include "servers/physics_server_3d.h" #include "space_bullet.h" @@ -80,18 +80,18 @@ public: private: // These are used by function callEvent. Instead to create this each call I create if one time. Variant call_event_res[5]; - Variant *call_event_res_ptr[5]; + Variant *call_event_res_ptr[5] = {}; - btGhostObject *btGhost; + btGhostObject *btGhost = nullptr; Vector<OverlappingObjectData> overlappingObjects; bool monitorable = true; PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; bool spOv_gravityPoint = false; - real_t spOv_gravityPointDistanceScale = 0; - real_t spOv_gravityPointAttenuation = 1; + real_t spOv_gravityPointDistanceScale = 0.0; + real_t spOv_gravityPointAttenuation = 1.0; Vector3 spOv_gravityVec = Vector3(0, -1, 0); - real_t spOv_gravityMag = 10; + real_t spOv_gravityMag = 10.0; real_t spOv_linearDump = 0.1; real_t spOv_angularDump = 0.1; int spOv_priority = 0; @@ -140,7 +140,7 @@ public: _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } virtual void main_shape_changed(); - virtual void do_reload_body(); + virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks(); diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index a754ca6a89..109854c9dd 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -39,11 +39,9 @@ */ btRayShape::btRayShape(btScalar length) : - btConvexInternalShape(), - m_shapeAxis(0, 0, 1) { + btConvexInternalShape() { m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE; setLength(length); - slipsOnSlope = false; } btRayShape::~btRayShape() { diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index d9ecde81e6..330755aa31 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,10 +42,10 @@ /// Ray shape around z axis ATTRIBUTE_ALIGNED16(class) btRayShape : public btConvexInternalShape { - btScalar m_length; - bool slipsOnSlope; + btScalar m_length = 0; + bool slipsOnSlope = false; /// The default axis is the z - btVector3 m_shapeAxis; + btVector3 m_shapeAxis = btVector3(0, 0, 1); btTransform m_cacheSupportPoint; btScalar m_cacheScaledLength; diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 8f64c11867..26e9f5a044 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,9 +32,9 @@ #include "bullet_utilities.h" #include "cone_twist_joint_bullet.h" -#include "core/class_db.h" -#include "core/error_macros.h" -#include "core/ustring.h" +#include "core/error/error_macros.h" +#include "core/object/class_db.h" +#include "core/string/ustring.h" #include "generic_6dof_joint_bullet.h" #include "hinge_joint_bullet.h" #include "pin_joint_bullet.h" @@ -625,14 +625,14 @@ uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { return 0; } -void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) { +void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } -float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { +real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); @@ -807,11 +807,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { return body->get_max_collisions_detection(); } -void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) { +void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { // Not supported by bullet and even Godot } -float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { +real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { // Not supported by bullet and even Godot return 0.; } @@ -862,7 +862,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); } -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); @@ -1059,16 +1059,16 @@ real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) { return body->get_linear_stiffness(); } -void BulletPhysicsServer3D::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) { +void BulletPhysicsServer3D::soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->set_areaAngular_stiffness(p_stiffness); + body->set_angular_stiffness(p_stiffness); } -real_t BulletPhysicsServer3D::soft_body_get_areaAngular_stiffness(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_angular_stiffness(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); - return body->get_areaAngular_stiffness(); + return body->get_angular_stiffness(); } void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { @@ -1221,7 +1221,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { +void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); @@ -1229,7 +1229,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par pin_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { +real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); @@ -1309,7 +1309,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { +void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); @@ -1317,7 +1317,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p hinge_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { +real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); @@ -1361,7 +1361,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_ CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { +void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); @@ -1369,7 +1369,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam slider_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { +real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); @@ -1395,7 +1395,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { +void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); @@ -1403,7 +1403,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi coneTwist_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { +real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0.); ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); @@ -1431,7 +1431,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { +void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); @@ -1439,7 +1439,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A generic_6dof_joint->set_param(p_axis, p_param, p_value); } -float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { +real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); @@ -1463,22 +1463,6 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax return generic_6dof_joint->get_flag(p_axis, p_flag); } -void BulletPhysicsServer3D::generic_6dof_joint_set_precision(RID p_joint, int p_precision) { - JointBullet *joint = joint_owner.getornull(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 BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) { - JointBullet *joint = joint_owner.getornull(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 BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { ShapeBullet *shape = shape_owner.getornull(p_rid); @@ -1541,7 +1525,7 @@ void BulletPhysicsServer3D::init() { BulletPhysicsDirectBodyState3D::initSingleton(); } -void BulletPhysicsServer3D::step(float p_deltaTime) { +void BulletPhysicsServer3D::step(real_t p_deltaTime) { if (!active) { return; } @@ -1553,9 +1537,6 @@ void BulletPhysicsServer3D::step(float p_deltaTime) { } } -void BulletPhysicsServer3D::sync() { -} - void BulletPhysicsServer3D::flush_queries() { if (!active) { return; diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 6078babaf8..97b719ae8e 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,8 +32,8 @@ #define BULLET_PHYSICS_SERVER_H #include "area_bullet.h" -#include "core/rid.h" -#include "core/rid_owner.h" +#include "core/templates/rid.h" +#include "core/templates/rid_owner.h" #include "joint_bullet.h" #include "rigid_body_bullet.h" #include "servers/physics_server_3d.h" @@ -207,8 +207,8 @@ public: /// This is not supported by physics server virtual uint32_t body_get_user_flags(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) override; - virtual float body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override; virtual real_t body_get_kinematic_safe_margin(RID p_body) const override; @@ -241,8 +241,8 @@ public: virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) override; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const override; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override; virtual bool body_is_omitting_force_integration(RID p_body) const override; @@ -256,7 +256,7 @@ public: virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; /* SOFT BODY API */ @@ -298,8 +298,8 @@ public: virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override; virtual real_t soft_body_get_linear_stiffness(RID p_body) override; - virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) override; - virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) override; + virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_angular_stiffness(RID p_body) override; virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) override; virtual real_t soft_body_get_volume_stiffness(RID p_body) override; @@ -337,8 +337,8 @@ public: virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override; - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) override; - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override; + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override; virtual Vector3 pin_joint_get_local_a(RID p_joint) const override; @@ -349,8 +349,8 @@ public: virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override; 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) override; - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) override; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override; + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override; @@ -358,27 +358,24 @@ public: /// Reference frame is A virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) override; - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override; + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) override; - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override; + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) override; - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override; + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override; - virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) override; - virtual int generic_6dof_joint_get_precision(RID p_joint) override; - /* MISC */ virtual void free(RID p_rid) override; @@ -396,8 +393,7 @@ public: } virtual void init() override; - virtual void step(float p_deltaTime) override; - virtual void sync() override; + virtual void step(real_t p_deltaTime) override; virtual void flush_queries() override; virtual void finish() override; diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp index c9493d8892..7b21e4e4b2 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -95,12 +95,61 @@ void G_TO_B(Transform const &inVal, btTransform &outVal) { } void UNSCALE_BT_BASIS(btTransform &scaledBasis) { - btMatrix3x3 &m(scaledBasis.getBasis()); - btVector3 column0(m[0][0], m[1][0], m[2][0]); - btVector3 column1(m[0][1], m[1][1], m[2][1]); - btVector3 column2(m[0][2], m[1][2], m[2][2]); + btMatrix3x3 &basis(scaledBasis.getBasis()); + btVector3 column0 = basis.getColumn(0); + btVector3 column1 = basis.getColumn(1); + btVector3 column2 = basis.getColumn(2); + + // Check for zero scaling. + if (column0.fuzzyZero()) { + if (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // All dimensions are fuzzy zero. Create a default basis. + column0 = btVector3(1, 0, 0); + column1 = btVector3(0, 1, 0); + column2 = btVector3(0, 0, 1); + } else { // Column 2 scale not fuzzy zero. + // Create two vectors orthogonal to row 2. + // Ensure that a default basis is created if row 2 = <0, 0, 1> + column1 = btVector3(0, column2[2], -column2[1]); + column0 = column1.cross(column2); + } + } else { // Column 1 scale not fuzzy zero. + if (column2.fuzzyZero()) { + // Create two vectors othogonal to column 1. + // Ensure that a default basis is created if column 1 = <0, 1, 0> + column0 = btVector3(column1[1], -column1[0], 0); + column2 = column0.cross(column1); + } else { // Column 1 and column 2 scales not fuzzy zero. + // Create column 0 orthogonal to column 1 and column 2. + column0 = column1.cross(column2); + } + } + } else { // Column 0 scale not fuzzy zero. + if (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // Create two vectors orthogonal to column 0. + // Ensure that a default basis is created if column 0 = <1, 0, 0> + column2 = btVector3(-column0[2], 0, column0[0]); + column1 = column2.cross(column0); + } else { // Column 0 and column 2 scales not fuzzy zero. + // Create column 1 orthogonal to column 0 and column 2. + column1 = column2.cross(column0); + } + } else { // Column 0 and column 1 scales not fuzzy zero. + if (column2.fuzzyZero()) { + // Create column 2 orthogonal to column 0 and column 1. + column2 = column0.cross(column1); + } + } + } + + // Normalize column0.normalize(); column1.normalize(); column2.normalize(); - m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]); + + basis.setValue(column0[0], column1[0], column2[0], + column0[1], column1[1], column2[1], + column0[2], column1[2], column2[2]); } diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h index fef07c55b7..ca9b7175dd 100644 --- a/modules/bullet/bullet_types_converter.h +++ b/modules/bullet/bullet_types_converter.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h index a5e33d9829..a7c0fafbea 100644 --- a/modules/bullet/bullet_utilities.h +++ b/modules/bullet/bullet_utilities.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index dd208965bd..bce8ec8076 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const } void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { - if (bt_shape == nullptr) { + if (!bt_shape) { if (active) { bt_shape = shape->create_bt_shape(scale * body_scale); } else { @@ -88,13 +88,6 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s } } -void CollisionObjectBullet::ShapeWrapper::release_bt_shape() { - if (bt_shape != nullptr) { - shape->destroy_bt_shape(bt_shape); - bt_shape = nullptr; - } -} - CollisionObjectBullet::CollisionObjectBullet(Type p_type) : RIDBullet(), type(p_type) {} @@ -165,13 +158,6 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object); } -void CollisionObjectBullet::prepare_object_for_dispatch() { - if (need_body_reload) { - do_reload_body(); - need_body_reload = false; - } -} - void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { collisionsEnabled = p_enabled; if (collisionsEnabled) { @@ -333,28 +319,16 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { return !shapes[p_index].active; } -void RigidCollisionObjectBullet::prepare_object_for_dispatch() { - if (need_shape_reload) { - do_reload_shapes(); - need_shape_reload = false; - } - CollisionObjectBullet::prepare_object_for_dispatch(); -} - void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { ShapeWrapper &shp = shapes.write[p_shape_index]; if (shp.bt_shape == mainShape) { mainShape = nullptr; } - shp.release_bt_shape(); + bulletdelete(shp.bt_shape); reload_shapes(); } void RigidCollisionObjectBullet::reload_shapes() { - need_shape_reload = true; -} - -void RigidCollisionObjectBullet::do_reload_shapes() { if (mainShape && mainShape->isCompound()) { // Destroy compound bulletdelete(mainShape); @@ -362,39 +336,41 @@ void RigidCollisionObjectBullet::do_reload_shapes() { mainShape = nullptr; + ShapeWrapper *shpWrapper; const int shape_count = shapes.size(); - ShapeWrapper *shapes_ptr = shapes.ptrw(); - // Reset all shapes if required + // Reset shape if required if (force_shape_reset) { for (int i(0); i < shape_count; ++i) { - shapes_ptr[i].release_bt_shape(); + shpWrapper = &shapes.write[i]; + bulletdelete(shpWrapper->bt_shape); } force_shape_reset = false; } const btVector3 body_scale(get_bt_body_scale()); + // Try to optimize by not using compound if (1 == shape_count) { - // Is it possible to optimize by not using compound? - btTransform transform = shapes_ptr[0].get_adjusted_transform(); + shpWrapper = &shapes.write[0]; + btTransform transform = shpWrapper->get_adjusted_transform(); if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) { - shapes_ptr[0].claim_bt_shape(body_scale); - mainShape = shapes_ptr[0].bt_shape; + shpWrapper->claim_bt_shape(body_scale); + mainShape = shpWrapper->bt_shape; main_shape_changed(); - // Nothing more to do return; } } - // Optimization not possible use a compound shape. + // Optimization not possible use a compound shape btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count)); for (int i(0); i < shape_count; ++i) { - shapes_ptr[i].claim_bt_shape(body_scale); - btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform()); + shpWrapper = &shapes.write[i]; + shpWrapper->claim_bt_shape(body_scale); + btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform()); scaled_shape_transform.getOrigin() *= body_scale; - compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape); + compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); } compoundShape->recalculateLocalAabb(); @@ -413,5 +389,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm if (shp.bt_shape == mainShape) { mainShape = nullptr; } - shp.release_bt_shape(); + bulletdelete(shp.bt_shape); } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index ac74661f24..c8081a53f1 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -33,8 +33,8 @@ #include "core/math/transform.h" #include "core/math/vector3.h" -#include "core/object.h" -#include "core/vset.h" +#include "core/object/class_db.h" +#include "core/templates/vset.h" #include "shape_owner_bullet.h" #include <LinearMath/btTransform.h> @@ -70,12 +70,11 @@ public: struct ShapeWrapper { ShapeBullet *shape = nullptr; + btCollisionShape *bt_shape = nullptr; btTransform transform; btVector3 scale; bool active = true; - btCollisionShape *bt_shape = nullptr; - public: ShapeWrapper() {} ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) : @@ -108,11 +107,10 @@ public: btTransform get_adjusted_transform() const; void claim_bt_shape(const btVector3 &body_scale); - void release_bt_shape(); }; protected: - Type type; + Type type = TYPE_AREA; ObjectID instance_id; uint32_t collisionLayer = 0; uint32_t collisionMask = 0; @@ -126,8 +124,6 @@ protected: VSet<RID> exceptions; - bool need_body_reload = true; - /// This array is used to know all areas where this Object is overlapped in /// 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 @@ -135,9 +131,6 @@ protected: bool isTransformChanged = false; public: - bool is_in_world = false; - -public: CollisionObjectBullet(Type p_type); virtual ~CollisionObjectBullet(); @@ -190,21 +183,13 @@ public: return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask; } - bool need_reload_body() const { - return need_body_reload; - } - - void reload_body() { - need_body_reload = true; - } - virtual void do_reload_body() = 0; + virtual void reload_body() = 0; virtual void set_space(SpaceBullet *p_space) = 0; _FORCE_INLINE_ SpaceBullet *get_space() const { return space; } virtual void on_collision_checker_start() = 0; virtual void on_collision_checker_end() = 0; - virtual void prepare_object_for_dispatch(); virtual void dispatch_callbacks() = 0; void set_collision_enabled(bool p_enabled); @@ -230,7 +215,6 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn protected: btCollisionShape *mainShape = nullptr; Vector<ShapeWrapper> shapes; - bool need_shape_reload = true; public: RigidCollisionObjectBullet(Type p_type) : @@ -262,12 +246,8 @@ public: void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); - virtual void prepare_object_for_dispatch(); - virtual void shape_changed(int p_shape_index); - void reload_shapes(); - bool need_reload_shapes() const { return need_shape_reload; } - virtual void do_reload_shapes(); + virtual void reload_shapes(); virtual void main_shape_changed() = 0; virtual void body_scale_changed(); diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index b4735fa9e9..e785780c5b 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index ed4baa9d1b..7d6bafd292 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/config.py b/modules/bullet/config.py index d22f9454ed..be7cf74f6f 100644 --- a/modules/bullet/config.py +++ b/modules/bullet/config.py @@ -1,5 +1,6 @@ def can_build(env, platform): - return True + # API Changed and bullet is disabled at the moment + return False def configure(env): diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index c47a23e75f..e610727685 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 538808be51..6afd8c9b52 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 56a66dba45..43ad6c56d5 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -273,11 +273,3 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6D 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 316708bb11..62b8e85a81 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -68,9 +68,6 @@ public: void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value); bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const; - - void set_precision(int p_precision); - int get_precision() const; }; #endif diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index ec7a1dbd9a..94f150b712 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h index ffad1b1bda..8ed55cb1da 100644 --- a/modules/bullet/godot_collision_configuration.h +++ b/modules/bullet/godot_collision_configuration.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp index d919c85469..5d1e4d34d8 100644 --- a/modules/bullet/godot_collision_dispatcher.cpp +++ b/modules/bullet/godot_collision_dispatcher.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h index 5a96268ee9..77472a9432 100644 --- a/modules/bullet/godot_collision_dispatcher.h +++ b/modules/bullet/godot_collision_dispatcher.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef GODOT_COLLISION_DISPATCHER_H #define GODOT_COLLISION_DISPATCHER_H -#include "core/int_types.h" +#include <cstdint> #include <btBulletDynamicsCommon.h> diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h index 90d1614a77..ca17349130 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -51,7 +51,7 @@ class GodotMotionState : public btMotionState { /// This data is used to store last world position btTransform bodyCurrentWorldTransform; - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; public: GodotMotionState(RigidBodyBullet *p_owner) : diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index a84f3511ba..a8291d4ab4 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index 9786732d40..25798aecb4 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -45,7 +45,7 @@ class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { const btDiscreteDynamicsWorld *m_world; btPersistentManifold *m_manifoldPtr; bool m_ownManifold = false; - bool m_isSwapped; + bool m_isSwapped = false; public: GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index e1f950dad1..15d625afeb 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -57,7 +57,7 @@ bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btB bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (m_pickRay || needs) { + if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 1325542973..f92665f3e4 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -59,8 +59,8 @@ struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResult bool m_pickRay = false; int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; public: GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : @@ -84,8 +84,8 @@ public: // store all colliding object struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback { public: - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int count = 0; @@ -117,8 +117,8 @@ public: const Set<RID> *m_exclude; int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), @@ -134,13 +134,13 @@ public: struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), @@ -159,13 +159,13 @@ public: struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - Vector3 *m_results; - int m_resultMax; + Vector3 *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), @@ -183,14 +183,14 @@ public: struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeRestInfo *m_result; + PhysicsDirectSpaceState3D::ShapeRestInfo *m_result = nullptr; const Set<RID> *m_exclude; bool m_collided = false; - real_t m_min_distance = 0; - const btCollisionObject *m_rest_info_collision_object; + real_t m_min_distance = 0.0; + const btCollisionObject *m_rest_info_collision_object = nullptr; btVector3 m_rest_info_bt_point; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 2338277565..4ceb98729f 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h index 120c40e5c0..06a95be374 100644 --- a/modules/bullet/hinge_joint_bullet.h +++ b/modules/bullet/hinge_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.cpp b/modules/bullet/joint_bullet.cpp index 6257ff0058..ac371658f5 100644 --- a/modules/bullet/joint_bullet.cpp +++ b/modules/bullet/joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h index c70cea817e..5bb8b50961 100644 --- a/modules/bullet/joint_bullet.h +++ b/modules/bullet/joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 1cfbc65c78..8e8ff57f11 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h index e7d05f34d4..6fbb6f7e02 100644 --- a/modules/bullet/pin_joint_bullet.h +++ b/modules/bullet/pin_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index 009d0dff63..b5ad5749a6 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #include "register_types.h" #include "bullet_physics_server.h" -#include "core/class_db.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" +#include "core/object/class_db.h" /** @author AndreaCatania diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h index 5a01a1422e..e405996705 100644 --- a/modules/bullet/register_types.h +++ b/modules/bullet/register_types.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h index 3551ca05f9..face6b4861 100644 --- a/modules/bullet/rid_bullet.h +++ b/modules/bullet/rid_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef RID_BULLET_H #define RID_BULLET_H -#include "core/rid.h" +#include "core/templates/rid.h" /** @author AndreaCatania @@ -41,7 +41,7 @@ class BulletPhysicsServer3D; class RIDBullet { RID self; - BulletPhysicsServer3D *physicsServer; + BulletPhysicsServer3D *physicsServer = nullptr; public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 8ff27cda30..a5093afe9d 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -56,11 +56,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const { return gVec; } -float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { return body->btBody->getAngularDamping(); } -float BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { return body->btBody->getLinearDamping(); } @@ -74,7 +74,7 @@ Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const { return Basis(); } -float BulletPhysicsDirectBodyState3D::get_inverse_mass() const { +real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const { return body->btBody->getInvMass(); } @@ -158,7 +158,7 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_i return body->collisions[p_contact_idx].hitNormal; } -float BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { +real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { return body->collisions[p_contact_idx].appliedImpulse; } @@ -237,7 +237,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { case PhysicsServer3D::SHAPE_CYLINDER: case PhysicsServer3D::SHAPE_CONVEX_POLYGON: case PhysicsServer3D::SHAPE_RAY: { - shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); + shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); } break; default: WARN_PRINT("This shape is not supported for kinematic collision."); @@ -264,6 +264,7 @@ RigidBodyBullet::RigidBodyBullet() : btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, nullptr, localInertia); btBody = bulletnew(btRigidBody(cInfo)); + btBody->setFriction(1.0); reload_shapes(); setupBulletCollisionObject(btBody); @@ -307,7 +308,7 @@ void RigidBodyBullet::main_shape_changed() { set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset } -void RigidBodyBullet::do_reload_body() { +void RigidBodyBullet::reload_body() { if (space) { space->remove_rigid_body(this); if (get_main_shape()) { @@ -320,20 +321,17 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { can_integrate_forces = false; - - // Remove all eventual constraints - assert_no_constraints(); - + isScratchedSpaceOverrideModificator = false; + // Remove any constraints + space->remove_rigid_body_constraints(this); // Remove this object form the physics world - space->unregister_collision_object(this); space->remove_rigid_body(this); } space = p_space; if (space) { - space->register_collision_object(this); - reload_body(); + space->add_rigid_body(this); } } @@ -414,7 +412,7 @@ void RigidBodyBullet::on_collision_checker_end() { 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) { +bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { if (collisionsCount >= maxCollisionsDetection) { return false; } @@ -443,12 +441,6 @@ bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { 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."); - } -} - void RigidBodyBullet::set_activation_state(bool p_active) { if (p_active) { btBody->activate(); @@ -718,12 +710,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { } void RigidBodyBullet::reload_axis_lock() { - btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); + btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) { /// When character angular is always locked btBody->setAngularFactor(btVector3(0., 0., 0.)); } else { - btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); + btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); } } @@ -744,7 +736,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { - btBody->setCcdMotionThreshold(10000.0); + btBody->setCcdMotionThreshold(0.); btBody->setCcdSweptSphereRadius(0.); } } @@ -805,8 +797,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const { } } -void RigidBodyBullet::do_reload_shapes() { - RigidCollisionObjectBullet::do_reload_shapes(); +void RigidBodyBullet::reload_shapes() { + RigidCollisionObjectBullet::reload_shapes(); const btScalar invMass = btBody->getInvMass(); const btScalar mass = invMass == 0 ? 0 : 1 / invMass; @@ -824,7 +816,7 @@ void RigidBodyBullet::do_reload_shapes() { btBody->updateInertiaTensor(); reload_kinematic_shapes(); - set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0); + set_continuous_collision_detection(is_continuous_collision_detection_enabled()); reload_body(); } @@ -843,8 +835,8 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { } else { if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) { // The position was found, just shift all elements - for (int j = i; j < areaWhereIamCount; ++j) { - areasWhereIam.write[j + 1] = areasWhereIam[j]; + for (int j = areaWhereIamCount; j > i; j--) { + areasWhereIam.write[j] = areasWhereIam[j - 1]; } areasWhereIam.write[i] = p_area; break; @@ -891,8 +883,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } void RigidBodyBullet::reload_space_override_modificator() { - // Make sure that kinematic bodies have their total gravity calculated - if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) { + if (mode == PhysicsServer3D::BODY_MODE_STATIC) { return; } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index eb62d0d39e..a4be7f9e07 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -81,21 +81,21 @@ public: } public: - RigidBodyBullet *body; - real_t deltaTime; + RigidBodyBullet *body = nullptr; + real_t deltaTime = 0.0; private: BulletPhysicsDirectBodyState3D() {} public: virtual Vector3 get_total_gravity() const override; - virtual float get_total_angular_damp() const override; - virtual float get_total_linear_damp() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; virtual Vector3 get_center_of_mass() const override; virtual Basis get_principal_inertia_axes() const override; // get the mass - virtual float get_inverse_mass() const override; + virtual real_t get_inverse_mass() const override; // get density of this body space virtual Vector3 get_inverse_inertia() const override; // get density of this body space @@ -124,7 +124,7 @@ public: virtual Vector3 get_contact_local_position(int p_contact_idx) const override; virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; - virtual float get_contact_impulse(int p_contact_idx) const override; + virtual real_t get_contact_impulse(int p_contact_idx) const override; virtual int get_contact_local_shape(int p_contact_idx) const override; virtual RID get_contact_collider(int p_contact_idx) const override; @@ -144,13 +144,13 @@ public: class RigidBodyBullet : public RigidCollisionObjectBullet { public: struct CollisionData { - RigidBodyBullet *otherObject; - int other_object_shape; - int local_shape; + RigidBodyBullet *otherObject = nullptr; + int other_object_shape = 0; + int local_shape = 0; Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; - float appliedImpulse; + real_t appliedImpulse = 0.0; }; struct ForceIntegrationCallback { @@ -169,7 +169,7 @@ public: }; struct KinematicUtilities { - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; btScalar safe_margin; Vector<KinematicShape> shapes; @@ -194,10 +194,10 @@ private: GodotMotionState *godotMotionState; btRigidBody *btBody; uint16_t locked_axis = 0; - real_t mass = 1; - real_t gravity_scale = 1; - real_t linearDamp = 0; - real_t angularDamp = 0; + real_t mass = 1.0; + real_t gravity_scale = 1.0; + real_t linearDamp = 0.0; + real_t angularDamp = 0.0; bool can_sleep = true; bool omit_forces_integration = false; bool can_integrate_forces = false; @@ -236,7 +236,7 @@ public: _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } virtual void main_shape_changed(); - virtual void do_reload_body(); + virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks(); @@ -264,11 +264,9 @@ 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 add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); bool was_colliding(RigidBodyBullet *p_other_object); - void assert_no_constraints(); - void set_activation_state(bool p_active); bool is_active() const; @@ -315,7 +313,7 @@ public: virtual void set_transform__bullet(const btTransform &p_global_transform); virtual const btTransform &get_transform__bullet() const; - virtual void do_reload_shapes(); + virtual void reload_shapes(); virtual void on_enter_area(AreaBullet *p_area); virtual void on_exit_area(AreaBullet *p_area); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index f4550c2024..82876ab77c 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,7 +34,7 @@ #include "bullet_physics_server.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" #include "shape_owner_bullet.h" #include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> @@ -46,15 +46,9 @@ @author AndreaCatania */ -ShapeBullet::ShapeBullet() { -} +ShapeBullet::ShapeBullet() {} -ShapeBullet::~ShapeBullet() { - if (default_shape != nullptr) { - bulletdelete(default_shape); - default_shape = nullptr; - } -} +ShapeBullet::~ShapeBullet() {} btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 s; @@ -62,22 +56,6 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, return create_bt_shape(s, p_extra_edge); } -btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) { - return default_shape; - } - - return internal_create_bt_shape(p_implicit_scale, p_extra_edge); -} - -void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const { - if (p_shape != default_shape && p_shape != old_default_shape) { - if (likely(p_shape != nullptr)) { - bulletdelete(p_shape); - } - } -} - btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); p_btShape->setMargin(margin); @@ -85,21 +63,10 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { } void ShapeBullet::notifyShapeChanged() { - // Store the old shape ptr so to not lose the reference pointer. - old_default_shape = default_shape; - // Create the new default shape with the new data. - default_shape = internal_create_bt_shape(btVector3(1, 1, 1)); - for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) { ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key()); owner->shape_changed(owner->find_shape(this)); } - - if (old_default_shape) { - // At this point now one has the old default shape; just delete it. - bulletdelete(old_default_shape); - old_default_shape = nullptr; - } } void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { @@ -219,7 +186,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) { notifyShapeChanged(); } -btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 btPlaneNormal; G_TO_B(plane.normal, btPlaneNormal); return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); @@ -247,7 +214,7 @@ void SphereShapeBullet::setup(real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge)); } @@ -274,7 +241,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) { notifyShapeChanged(); } -btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge))); } @@ -307,8 +274,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge)); +btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1])); } /* Cylinder */ @@ -340,7 +307,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); } @@ -382,7 +349,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { notifyShapeChanged(); } -btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { if (!vertices.size()) { // This is necessary since 0 vertices return prepare(ShapeBullet::create_shape_empty()); @@ -464,7 +431,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { notifyShapeChanged(); } -btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); if (!cs) { // This is necessary since if 0 faces the creation of concave return null @@ -504,13 +471,20 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { int l_width = d["width"]; int l_depth = d["depth"]; + ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2."); + ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2."); + // TODO This code will need adjustments if real_t is set to `double`, // because that precision is unnecessary for a heightmap and Bullet doesn't support it... Vector<real_t> l_heights; Variant l_heights_v = d["heights"]; +#ifdef REAL_T_IS_DOUBLE + if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) { +#else if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) { +#endif // Ready-to-use heights can be passed l_heights = l_heights_v; @@ -533,7 +507,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { real_t *w = l_heights.ptrw(); const uint8_t *r = im_data.ptr(); - float *rp = (float *)r; + real_t *rp = (real_t *)r; // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be. for (int i = 0; i < l_heights.size(); ++i) { @@ -541,7 +515,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { } } else { +#ifdef REAL_T_IS_DOUBLE + ERR_FAIL_MSG("Expected PackedFloat64Array or float Image."); +#else ERR_FAIL_MSG("Expected PackedFloat32Array or float Image."); +#endif } ERR_FAIL_COND(l_width <= 0); @@ -588,7 +566,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d notifyShapeChanged(); } -btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); @@ -621,6 +599,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { notifyShapeChanged(); } -btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope)); } diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 6ca4d36a23..bfd95747eb 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define SHAPE_BULLET_H #include "core/math/geometry_3d.h" -#include "core/variant.h" +#include "core/variant/variant.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -53,10 +53,6 @@ class ShapeBullet : public RIDBullet { Map<ShapeOwnerBullet *, int> owners; real_t margin = 0.04; - // Contains the default shape. - btCollisionShape *default_shape = nullptr; - btCollisionShape *old_default_shape = nullptr; - protected: /// return self btCollisionShape *prepare(btCollisionShape *p_btShape) const; @@ -67,11 +63,7 @@ public: virtual ~ShapeBullet(); btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0); - btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); - - void destroy_bt_shape(btCollisionShape *p_shape) const; - - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; void add_owner(ShapeOwnerBullet *p_owner); void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false); @@ -110,7 +102,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Plane &p_plane); @@ -126,7 +118,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_radius); @@ -142,7 +134,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector3 &p_half_extents); @@ -160,7 +152,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_height, real_t p_radius); @@ -178,7 +170,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(real_t p_height, real_t p_radius); @@ -194,7 +186,7 @@ public: void get_vertices(Vector<Vector3> &out_vertices); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector<Vector3> &p_vertices); @@ -212,7 +204,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector<Vector3> p_faces); @@ -221,17 +213,17 @@ private: class HeightMapShapeBullet : public ShapeBullet { public: Vector<real_t> heights; - int width; - int depth; - real_t min_height; - real_t max_height; + int width = 0; + int depth = 0; + real_t min_height = 0.0; + real_t max_height = 0.0; HeightMapShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); @@ -239,7 +231,7 @@ private: class RayShapeBullet : public ShapeBullet { public: - real_t length = 1; + real_t length = 1.0; bool slips_on_slope = false; RayShapeBullet(); @@ -247,7 +239,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_length, bool p_slips_on_slope); diff --git a/modules/bullet/shape_owner_bullet.cpp b/modules/bullet/shape_owner_bullet.cpp index d63096d9a3..ea8821eaec 100644 --- a/modules/bullet/shape_owner_bullet.cpp +++ b/modules/bullet/shape_owner_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h index f909632c99..4bd583e096 100644 --- a/modules/bullet/shape_owner_bullet.h +++ b/modules/bullet/shape_owner_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index 6d5d95d07a..45c892851b 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h index 6410b952ed..90964671c2 100644 --- a/modules/bullet/slider_joint_bullet.h +++ b/modules/bullet/slider_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 3fccd3d8a2..91a1934e07 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() : SoftBodyBullet::~SoftBodyBullet() { } -void SoftBodyBullet::do_reload_body() { +void SoftBodyBullet::reload_body() { if (space) { space->remove_soft_body(this); space->add_soft_body(this); @@ -51,15 +51,13 @@ void SoftBodyBullet::do_reload_body() { void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { isScratched = false; - space->unregister_collision_object(this); space->remove_soft_body(this); } space = p_space; if (space) { - space->register_collision_object(this); - reload_body(); + space->add_soft_body(this); } } @@ -261,10 +259,10 @@ void SoftBodyBullet::set_linear_stiffness(real_t p_val) { } } -void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) { - areaAngular_stiffness = p_val; +void SoftBodyBullet::set_angular_stiffness(real_t p_val) { + angular_stiffness = p_val; if (bt_soft_body) { - mat0->m_kAST = areaAngular_stiffness; + mat0->m_kAST = angular_stiffness; } } @@ -411,7 +409,7 @@ void SoftBodyBullet::setup_soft_body() { bt_soft_body->generateBendingConstraints(2, mat0); mat0->m_kLST = linear_stiffness; - mat0->m_kAST = areaAngular_stiffness; + mat0->m_kAST = angular_stiffness; mat0->m_kVST = volume_stiffness; // Clusters allow to have Soft vs Soft collision but doesn't work well right now diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index ba968f4271..23f6fba9a6 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -59,7 +59,7 @@ class SoftBodyBullet : public CollisionObjectBullet { private: btSoftBody *bt_soft_body = nullptr; Vector<Vector<int>> indices_table; - btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody + btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody bool isScratched = false; Ref<Mesh> soft_mesh; @@ -67,7 +67,7 @@ private: int simulation_precision = 5; real_t total_mass = 1.; real_t linear_stiffness = 0.5; // [0,1] - real_t areaAngular_stiffness = 0.5; // [0,1] + real_t angular_stiffness = 0.5; // [0,1] real_t volume_stiffness = 0.5; // [0,1] real_t pressure_coefficient = 0.; // [-inf,+inf] real_t pose_matching_coefficient = 0.; // [0,1] @@ -87,7 +87,7 @@ public: SoftBodyBullet(); ~SoftBodyBullet(); - virtual void do_reload_body(); + virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks() {} @@ -129,8 +129,8 @@ public: void set_linear_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } - void set_areaAngular_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } + void set_angular_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_angular_stiffness() const { return angular_stiffness; } void set_volume_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; } diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 70e137b16d..7d337bc4d0 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,8 +34,8 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "constraint_bullet.h" -#include "core/project_settings.h" -#include "core/ustring.h" +#include "core/config/project_settings.h" +#include "core/string/ustring.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" #include "rigid_body_bullet.h" @@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } @@ -127,7 +127,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - shape->destroy_bt_shape(btShape); + bulletdelete(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return 0; } @@ -147,27 +147,23 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - shape->destroy_bt_shape(btShape); + bulletdelete(btConvex); return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { r_closest_safe = 0.0f; r_closest_unsafe = 0.0f; btVector3 bt_motion; G_TO_B(p_motion, bt_motion); - if (bt_motion.fuzzyZero()) { - return false; - } - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); if (!btShape->isConvex()) { - shape->destroy_bt_shape(btShape); + bulletdelete(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -180,6 +176,13 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btTransform bt_xform_to(bt_xform_from); bt_xform_to.getOrigin() += bt_motion; + if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) { + r_closest_safe = 1.0f; + r_closest_unsafe = 1.0f; + bulletdelete(btShape); + return true; + } + GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas); btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; @@ -206,12 +209,12 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf r_closest_unsafe = 1.0f; } - shape->destroy_bt_shape(btShape); + bulletdelete(bt_convex_shape); return true; // Mean success } /// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } @@ -221,7 +224,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - shape->destroy_bt_shape(btShape); + bulletdelete(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -242,18 +245,18 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & space->dynamicsWorld->contactTest(&collision_object, btQuery); r_result_count = btQuery.m_count; - shape->destroy_bt_shape(btShape); + bulletdelete(btConvex); return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - shape->destroy_bt_shape(btShape); + bulletdelete(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -273,7 +276,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - shape->destroy_bt_shape(btShape); + bulletdelete(btConvex); if (btQuery.m_collided) { if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) { @@ -349,11 +352,9 @@ SpaceBullet::~SpaceBullet() { } void SpaceBullet::flush_queries() { - const int size = collision_objects.size(); - CollisionObjectBullet **objects = collision_objects.ptrw(); - for (int i = 0; i < size; i += 1) { - objects[i]->prepare_object_for_dispatch(); - objects[i]->dispatch_callbacks(); + const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray(); + for (int i = colObjArray.size() - 1; 0 <= i; --i) { + static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks(); } } @@ -450,30 +451,16 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) { } void SpaceBullet::add_area(AreaBullet *p_area) { -#ifdef TOOLS_ENABLED - // This never happen, and there is no way for the user to trigger it. - // If in future a bug is introduced into this bullet integration and this - // function is called twice, the crash will notify the developer that will - // fix it even before do the eventual PR. - CRASH_COND(p_area->is_in_world); -#endif areas.push_back(p_area); dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); - p_area->is_in_world = true; } void SpaceBullet::remove_area(AreaBullet *p_area) { - if (p_area->is_in_world) { - areas.erase(p_area); - dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); - p_area->is_in_world = false; - } + areas.erase(p_area); + dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); } void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { - if (p_area->is_in_world == false) { - return; - } btGhostObject *ghost_object = p_area->get_bt_ghost(); btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle(); @@ -483,46 +470,38 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { dynamicsWorld->refreshBroadphaseProxy(ghost_object); } -void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) { - collision_objects.push_back(p_object); -} - -void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) { - collision_objects.erase(p_object); -} - void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { -#ifdef TOOLS_ENABLED - // This never happen, and there is no way for the user to trigger it. - // If in future a bug is introduced into this bullet integration and this - // function is called twice, the crash will notify the developer that will - // fix it even before do the eventual PR. - CRASH_COND(p_body->is_in_world); -#endif if (p_body->is_static()) { dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); } else { dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); p_body->scratch_space_override_modificator(); } - p_body->is_in_world = true; } -void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { - if (p_body->is_in_world) { - if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); - } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); +void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + + int constraints = btBody->getNumConstraintRefs(); + if (constraints > 0) { + ERR_PRINT("A body connected to joints was removed."); + for (int i = 0; i < constraints; i++) { + dynamicsWorld->removeConstraint(btBody->getConstraintRef(i)); } - p_body->is_in_world = false; } } -void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { - if (p_body->is_in_world == false) { - return; +void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + + if (p_body->is_static()) { + dynamicsWorld->removeCollisionObject(btBody); + } else { + dynamicsWorld->removeRigidBody(btBody); } +} + +void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { btRigidBody *rigid_body = p_body->get_bt_rigid_body(); btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy(); @@ -862,20 +841,32 @@ void SpaceBullet::check_body_collision() { Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; + real_t appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); + // The pt.m_index only contains the shape index when more than one collision shape is used + // and only if the collision shape is not a concave collision shape. + // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. + int shape_index_a = 0; + if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { + shape_index_a = pt.m_index0; + } + int shape_index_b = 0; + if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { + shape_index_b = pt.m_index1; + } + if (bodyA->can_add_collision()) { B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); /// pt.m_localPointB Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a); } if (bodyB->can_add_collision()) { B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); /// pt.m_localPointA Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b); } #ifdef DEBUG_ENABLED @@ -927,8 +918,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f SceneTree::get_singleton()->get_current_scene()->add_child(motionVec); SceneTree::get_singleton()->get_current_scene()->add_child(normalLine); - motionVec->set_as_toplevel(true); - normalLine->set_as_toplevel(true); + motionVec->set_as_top_level(true); + normalLine->set_as_top_level(true); red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); @@ -982,7 +973,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f motionVec->end(); #endif - for (int shIndex = 0; shIndex < shape_count && !motion.fuzzyZero(); ++shIndex) { + for (int shIndex = 0; shIndex < shape_count; ++shIndex) { if (p_body->is_shape_disabled(shIndex)) { continue; } @@ -1004,6 +995,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btTransform shape_world_to(shape_world_from); shape_world_to.getOrigin() += motion; + if ((shape_world_to.getOrigin() - shape_world_from.getOrigin()).fuzzyZero()) { + motion = btVector3(0, 0, 0); + break; + } + GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia); btResult.m_collisionFilterGroup = p_body->get_collision_layer(); btResult.m_collisionFilterMask = p_body->get_collision_mask(); @@ -1066,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f return has_penetration; } -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) { +int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); @@ -1096,13 +1092,13 @@ private: btDbvtVolume bounds; const btCollisionObject *self_collision_object; - uint32_t collision_layer; - uint32_t collision_mask; + uint32_t collision_layer = 0; + uint32_t collision_mask = 0; struct CompoundLeafCallback : btDbvt::ICollide { private: - RecoverPenetrationBroadPhaseCallback *parent_callback; - btCollisionObject *collision_object; + RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr; + btCollisionObject *collision_object = nullptr; public: CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) : @@ -1120,8 +1116,8 @@ private: public: struct BroadphaseResult { - btCollisionObject *collision_object; - int compound_child_index; + btCollisionObject *collision_object = nullptr; + int compound_child_index = 0; }; Vector<BroadphaseResult> results; diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index aa9a70594e..87aa2b9e93 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H -#include "core/variant.h" -#include "core/vector.h" +#include "core/templates/vector.h" +#include "core/variant/variant.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -78,11 +78,11 @@ public: virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; }; @@ -100,17 +100,16 @@ class SpaceBullet : public RIDBullet { btGhostPairCallback *ghostPairCallback = nullptr; GodotFilterCallback *godotFilterCallback = nullptr; - btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; - btVoronoiSimplexSolver *gjk_simplex_solver; + btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr; + btVoronoiSimplexSolver *gjk_simplex_solver = nullptr; BulletPhysicsDirectSpaceState *direct_access; Vector3 gravityDirection = Vector3(0, -1, 0); - real_t gravityMagnitude = 10; + real_t gravityMagnitude = 10.0; real_t linear_damp = 0.0; real_t angular_damp = 0.0; - Vector<CollisionObjectBullet *> collision_objects; Vector<AreaBullet *> areas; Vector<Vector3> contactDebug; @@ -151,10 +150,8 @@ public: void remove_area(AreaBullet *p_area); void reload_collision_filters(AreaBullet *p_area); - void register_collision_object(CollisionObjectBullet *p_object); - void unregister_collision_object(CollisionObjectBullet *p_object); - void add_rigid_body(RigidBodyBullet *p_body); + void remove_rigid_body_constraints(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); @@ -171,7 +168,7 @@ public: BulletPhysicsDirectSpaceState *get_direct_state(); void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); } _FORCE_INLINE_ void reset_debug_contact_count() { contactDebugCount = 0; } @@ -192,7 +189,7 @@ public: real_t get_angular_damp() const { return angular_damp; } bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); - int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); + int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); private: void create_empty_world(bool p_create_soft_world); |