summaryrefslogtreecommitdiff
path: root/modules/bullet
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet')
-rw-r--r--modules/bullet/bullet_physics_server.cpp4
-rw-r--r--modules/bullet/config.py2
-rw-r--r--modules/bullet/rigid_body_bullet.cpp1
-rw-r--r--modules/bullet/shape_bullet.cpp37
-rw-r--r--modules/bullet/shape_bullet.h20
-rw-r--r--modules/bullet/space_bullet.cpp82
6 files changed, 97 insertions, 49 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 6246a295ec..54431f93f1 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -113,6 +113,10 @@ RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
shape = bulletnew(CapsuleShapeBullet);
} break;
+ case SHAPE_CYLINDER: {
+
+ shape = bulletnew(CylinderShapeBullet);
+ } break;
case SHAPE_CONVEX_POLYGON: {
shape = bulletnew(ConvexPolygonShapeBullet);
diff --git a/modules/bullet/config.py b/modules/bullet/config.py
index 0a31c2e503..92dbcf5cb0 100644
--- a/modules/bullet/config.py
+++ b/modules/bullet/config.py
@@ -1,4 +1,4 @@
-def can_build(platform):
+def can_build(env, platform):
return True
def configure(env):
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 2494063c22..2fc96a77b5 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -226,6 +226,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
case PhysicsServer::SHAPE_SPHERE:
case PhysicsServer::SHAPE_BOX:
case PhysicsServer::SHAPE_CAPSULE:
+ case PhysicsServer::SHAPE_CYLINDER:
case PhysicsServer::SHAPE_CONVEX_POLYGON:
case PhysicsServer::SHAPE_RAY: {
shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 76d9614465..92e7c2df98 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -113,6 +113,10 @@ btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar hei
return bulletnew(btCapsuleShapeZ(radius, height));
}
+btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) {
+ return bulletnew(btCylinderShape(btVector3(radius, height / 2.0, radius)));
+}
+
btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) {
return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling));
}
@@ -254,6 +258,39 @@ btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implici
return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
+/* Cylinder */
+
+CylinderShapeBullet::CylinderShapeBullet() :
+ ShapeBullet() {}
+
+void CylinderShapeBullet::set_data(const Variant &p_data) {
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("radius"));
+ ERR_FAIL_COND(!d.has("height"));
+ setup(d["height"], d["radius"]);
+}
+
+Variant CylinderShapeBullet::get_data() const {
+ Dictionary d;
+ d["radius"] = radius;
+ d["height"] = height;
+ return d;
+}
+
+PhysicsServer::ShapeType CylinderShapeBullet::get_type() const {
+ return PhysicsServer::SHAPE_CYLINDER;
+}
+
+void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
+ radius = p_radius;
+ height = p_height;
+ notifyShapeChanged();
+}
+
+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));
+}
+
/* Convex polygon */
ConvexPolygonShapeBullet::ConvexPolygonShapeBullet() :
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index abeea0f9ce..16a5ac1fc6 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -82,6 +82,7 @@ public:
static class btSphereShape *create_shape_sphere(btScalar radius);
static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
static class btCapsuleShapeZ *create_shape_capsule(btScalar radius, btScalar height);
+ static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height);
/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
@@ -158,6 +159,25 @@ private:
void setup(real_t p_height, real_t p_radius);
};
+class CylinderShapeBullet : public ShapeBullet {
+
+ real_t height;
+ real_t radius;
+
+public:
+ CylinderShapeBullet();
+
+ _FORCE_INLINE_ real_t get_height() { return height; }
+ _FORCE_INLINE_ real_t get_radius() { return radius; }
+ virtual void set_data(const Variant &p_data);
+ virtual Variant get_data() const;
+ virtual PhysicsServer::ShapeType get_type() const;
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+
+private:
+ void setup(real_t p_height, real_t p_radius);
+};
+
class ConvexPolygonShapeBullet : public ShapeBullet {
public:
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 3a1f5d78dd..971fd39509 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -841,20 +841,19 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
- btTransform body_safe_position;
- G_TO_B(p_from, body_safe_position);
- UNSCALE_BT_BASIS(body_safe_position);
+ btTransform body_transform;
+ G_TO_B(p_from, body_transform);
+ UNSCALE_BT_BASIS(body_transform);
- btVector3 recover_initial_position(0, 0, 0);
+ btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
+ if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
break;
}
}
-
// Add recover movement in order to make it safe
- body_safe_position.getOrigin() += recover_initial_position;
+ body_transform.getOrigin() += initial_recover_motion;
}
btVector3 motion;
@@ -885,7 +884,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
- btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
+ btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
@@ -903,62 +902,49 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
}
- body_safe_position.getOrigin() += motion;
+ body_transform.getOrigin() += motion;
}
bool has_penetration = false;
- { /// Phase three - Recover + contact test with margin
+ { /// Phase three - contact test with margin
- btVector3 delta_recover_movement(0, 0, 0);
+ btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- bool l_has_penetration;
- real_t l_penetration_distance = 1e20;
- for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
- if (r_result) {
- B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
+ // Parse results
+ if (r_result) {
+ B_TO_G(motion + initial_recover_motion, r_result->motion);
- if (l_has_penetration) {
- has_penetration = true;
- if (l_penetration_distance <= r_recover_result.penetration_distance) {
- continue;
- }
+ if (has_penetration) {
- l_penetration_distance = r_recover_result.penetration_distance;
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
+ B_TO_G(motion, r_result->remainder); // is the remaining movements
+ r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(motion, r_result->remainder); // is the remaining movements
- r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
- B_TO_G(r_recover_result.normal, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
- r_result->collider = collisionObject->get_self();
- r_result->collider_id = collisionObject->get_instance_id();
- r_result->collider_shape = r_recover_result.other_compound_shape_index;
- r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.normal, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+ r_result->collider = collisionObject->get_self();
+ r_result->collider_id = collisionObject->get_instance_id();
+ r_result->collider_shape = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
#if debug_test_motion
- Vector3 sup_line2;
- B_TO_G(motion, sup_line2);
- normalLine->clear();
- normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
- normalLine->add_vertex(r_result->collision_point);
- normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
- normalLine->end();
+ Vector3 sup_line2;
+ B_TO_G(motion, sup_line2);
+ normalLine->clear();
+ normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
+ normalLine->add_vertex(r_result->collision_point);
+ normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
+ normalLine->end();
#endif
- } else {
- r_result->remainder = Vector3();
- }
} else {
- if (!l_has_penetration)
- break;
- else
- has_penetration = true;
+ r_result->remainder = Vector3();
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-27 19:45:58 +0000