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-rw-r--r--modules/bullet/SCsub4
-rw-r--r--modules/bullet/area_bullet.cpp7
-rw-r--r--modules/bullet/area_bullet.h4
-rw-r--r--modules/bullet/bullet_physics_server.cpp42
-rw-r--r--modules/bullet/bullet_physics_server.h378
-rw-r--r--modules/bullet/collision_object_bullet.cpp58
-rw-r--r--modules/bullet/collision_object_bullet.h26
-rw-r--r--modules/bullet/godot_result_callbacks.cpp2
-rw-r--r--modules/bullet/rigid_body_bullet.cpp52
-rw-r--r--modules/bullet/rigid_body_bullet.h78
-rw-r--r--modules/bullet/shape_bullet.cpp55
-rw-r--r--modules/bullet/shape_bullet.h30
-rw-r--r--modules/bullet/soft_body_bullet.cpp6
-rw-r--r--modules/bullet/soft_body_bullet.h2
-rw-r--r--modules/bullet/space_bullet.cpp108
-rw-r--r--modules/bullet/space_bullet.h27
16 files changed, 522 insertions, 357 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index b853ebfc63..21bdcca18e 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -201,8 +201,8 @@ if env["builtin_bullet"]:
env_bullet.Append(CPPFLAGS=["-isystem", Dir(thirdparty_dir).path])
else:
env_bullet.Prepend(CPPPATH=[thirdparty_dir])
- # if env['target'] == "debug" or env['target'] == "release_debug":
- # env_bullet.Append(CPPDEFINES=['BT_DEBUG'])
+ if env["target"] == "debug" or env["target"] == "release_debug":
+ env_bullet.Append(CPPDEFINES=["DEBUG"])
env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"])
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index 79d8e252f0..edbd9565b8 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() {
btGhost->setCollisionShape(get_main_shape());
}
-void AreaBullet::reload_body() {
+void AreaBullet::do_reload_body() {
if (space) {
space->remove_area(this);
space->add_area(this);
@@ -174,16 +174,19 @@ void AreaBullet::reload_body() {
void AreaBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
+ 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->add_area(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index cde889c1ba..12272092f7 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -93,7 +93,7 @@ private:
Vector3 spOv_gravityVec = Vector3(0, -1, 0);
real_t spOv_gravityMag = 10;
real_t spOv_linearDump = 0.1;
- real_t spOv_angularDump = 1;
+ real_t spOv_angularDump = 0.1;
int spOv_priority = 0;
bool isScratched = false;
@@ -140,7 +140,7 @@ public:
_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
virtual void main_shape_changed();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 55686543f3..8f64c11867 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -561,14 +561,14 @@ void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
}
void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
- CollisionObjectBullet *body = get_collisin_object(p_body);
+ CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND(!body);
body->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
- CollisionObjectBullet *body = get_collisin_object(p_body);
+ CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_instance_id();
@@ -707,11 +707,11 @@ void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_
body->apply_central_force(p_force);
}
-void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
- body->apply_force(p_force, p_pos);
+ body->apply_force(p_force, p_position);
}
void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
@@ -728,11 +728,11 @@ void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3
body->apply_central_impulse(p_impulse);
}
-void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
+void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
- body->apply_impulse(p_pos, p_impulse);
+ body->apply_impulse(p_impulse, p_position);
}
void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
@@ -1557,6 +1557,13 @@ void BulletPhysicsServer3D::sync() {
}
void BulletPhysicsServer3D::flush_queries() {
+ if (!active) {
+ return;
+ }
+
+ for (int i = 0; i < active_spaces_count; ++i) {
+ active_spaces[i]->flush_queries();
+ }
}
void BulletPhysicsServer3D::finish() {
@@ -1567,7 +1574,17 @@ int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
return 0;
}
-CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object) const {
+SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return space_owner.getornull(p_rid);
+}
+
+ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return shape_owner.getornull(p_rid);
+}
+
+CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
return rigid_body_owner.getornull(p_object);
}
@@ -1577,15 +1594,20 @@ CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object)
if (soft_body_owner.owns(p_object)) {
return soft_body_owner.getornull(p_object);
}
- return nullptr;
+ ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
}
-RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collisin_object(RID p_object) const {
+RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
return rigid_body_owner.getornull(p_object);
}
if (area_owner.owns(p_object)) {
return area_owner.getornull(p_object);
}
- return nullptr;
+ ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
+}
+
+JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return joint_owner.getornull(p_rid);
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 558d1ce5f7..6078babaf8 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -88,35 +88,35 @@ public:
}
/* SHAPE API */
- virtual RID shape_create(ShapeType p_shape);
- virtual void shape_set_data(RID p_shape, const Variant &p_data);
- virtual ShapeType shape_get_type(RID p_shape) const;
- virtual Variant shape_get_data(RID p_shape) const;
+ virtual RID shape_create(ShapeType p_shape) override;
+ virtual void shape_set_data(RID p_shape, const Variant &p_data) override;
+ virtual ShapeType shape_get_type(RID p_shape) const override;
+ virtual Variant shape_get_data(RID p_shape) const override;
- virtual void shape_set_margin(RID p_shape, real_t p_margin);
- virtual real_t shape_get_margin(RID p_shape) const;
+ virtual void shape_set_margin(RID p_shape, real_t p_margin) override;
+ virtual real_t shape_get_margin(RID p_shape) const override;
/// Not supported
- virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
+ virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override;
/// Not supported
- virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
+ virtual real_t shape_get_custom_solver_bias(RID p_shape) const override;
/* SPACE API */
- virtual RID space_create();
- virtual void space_set_active(RID p_space, bool p_active);
- virtual bool space_is_active(RID p_space) const;
+ virtual RID space_create() override;
+ virtual void space_set_active(RID p_space, bool p_active) override;
+ virtual bool space_is_active(RID p_space) const override;
/// Not supported
- virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value);
+ virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override;
/// Not supported
- virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const;
+ virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override;
- virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space);
+ virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override;
- virtual void space_set_debug_contacts(RID p_space, int p_max_contacts);
- virtual Vector<Vector3> space_get_contacts(RID p_space) const;
- virtual int space_get_contact_count(RID p_space) const;
+ virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override;
+ virtual Vector<Vector3> space_get_contacts(RID p_space) const override;
+ virtual int space_get_contact_count(RID p_space) const override;
/* AREA API */
@@ -125,265 +125,265 @@ public:
/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
/// All other APIs returns a warning message if used
- virtual RID area_create();
+ virtual RID area_create() override;
- virtual void area_set_space(RID p_area, RID p_space);
+ virtual void area_set_space(RID p_area, RID p_space) override;
- virtual RID area_get_space(RID p_area) const;
+ virtual RID area_get_space(RID p_area) const override;
- virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
- virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
+ virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override;
+ virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
- virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
- virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
- virtual int area_get_shape_count(RID p_area) const;
- virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
- virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
- virtual void area_remove_shape(RID p_area, int p_shape_idx);
- virtual void area_clear_shapes(RID p_area);
- virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
- virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
- virtual ObjectID area_get_object_instance_id(RID p_area) const;
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override;
+ virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override;
+ virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) override;
+ virtual int area_get_shape_count(RID p_area) const override;
+ virtual RID area_get_shape(RID p_area, int p_shape_idx) const override;
+ virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const override;
+ virtual void area_remove_shape(RID p_area, int p_shape_idx) override;
+ virtual void area_clear_shapes(RID p_area) override;
+ virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override;
+ virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override;
+ virtual ObjectID area_get_object_instance_id(RID p_area) const override;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
/// AREA_PARAM_GRAVITY
/// AREA_PARAM_GRAVITY_VECTOR
/// Otherwise you can set area parameters
- virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
- virtual Variant area_get_param(RID p_area, AreaParameter p_param) const;
+ virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override;
+ virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override;
- virtual void area_set_transform(RID p_area, const Transform &p_transform);
- virtual Transform area_get_transform(RID p_area) const;
+ virtual void area_set_transform(RID p_area, const Transform &p_transform) override;
+ virtual Transform area_get_transform(RID p_area) const override;
- virtual void area_set_collision_mask(RID p_area, uint32_t p_mask);
- virtual void area_set_collision_layer(RID p_area, uint32_t p_layer);
+ virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override;
+ virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override;
- virtual void area_set_monitorable(RID p_area, bool p_monitorable);
- virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
- virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
- virtual void area_set_ray_pickable(RID p_area, bool p_enable);
- virtual bool area_is_ray_pickable(RID p_area) const;
+ virtual void area_set_monitorable(RID p_area, bool p_monitorable) override;
+ virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
+ virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
+ virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
+ virtual bool area_is_ray_pickable(RID p_area) const override;
/* RIGID BODY API */
- virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false);
+ virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) override;
- virtual void body_set_space(RID p_body, RID p_space);
- virtual RID body_get_space(RID p_body) const;
+ virtual void body_set_space(RID p_body, RID p_space) override;
+ virtual RID body_get_space(RID p_body) const override;
- virtual void body_set_mode(RID p_body, BodyMode p_mode);
- virtual BodyMode body_get_mode(RID p_body) const;
+ virtual void body_set_mode(RID p_body, BodyMode p_mode) override;
+ virtual BodyMode body_get_mode(RID p_body) const override;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override;
// Not supported, Please remove and add new shape
- virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
- virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
+ virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override;
+ virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) override;
- virtual int body_get_shape_count(RID p_body) const;
- virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
- virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
+ virtual int body_get_shape_count(RID p_body) const override;
+ virtual RID body_get_shape(RID p_body, int p_shape_idx) const override;
+ virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const override;
- virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled);
+ virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override;
- virtual void body_remove_shape(RID p_body, int p_shape_idx);
- virtual void body_clear_shapes(RID p_body);
+ virtual void body_remove_shape(RID p_body, int p_shape_idx) override;
+ virtual void body_clear_shapes(RID p_body) override;
// Used for Rigid and Soft Bodies
- virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id);
- virtual ObjectID body_get_object_instance_id(RID p_body) const;
+ virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override;
+ virtual ObjectID body_get_object_instance_id(RID p_body) const override;
- virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
- virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
+ virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override;
+ virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override;
- virtual void body_set_collision_layer(RID p_body, uint32_t p_layer);
- virtual uint32_t body_get_collision_layer(RID p_body) const;
+ virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override;
+ virtual uint32_t body_get_collision_layer(RID p_body) const override;
- virtual void body_set_collision_mask(RID p_body, uint32_t p_mask);
- virtual uint32_t body_get_collision_mask(RID p_body) const;
+ virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
+ virtual uint32_t body_get_collision_mask(RID p_body) const override;
/// This is not supported by physics server
- virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
+ virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
/// This is not supported by physics server
- virtual uint32_t body_get_user_flags(RID p_body) const;
+ 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);
- virtual float body_get_param(RID p_body, BodyParameter p_param) const;
+ 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_kinematic_safe_margin(RID p_body, real_t p_margin);
- virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
+ 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;
- virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
- virtual Variant body_get_state(RID p_body, BodyState p_state) const;
+ virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
+ virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
- virtual void body_set_applied_force(RID p_body, const Vector3 &p_force);
- virtual Vector3 body_get_applied_force(RID p_body) const;
+ virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override;
+ virtual Vector3 body_get_applied_force(RID p_body) const override;
- virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque);
- virtual Vector3 body_get_applied_torque(RID p_body) const;
+ virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override;
+ virtual Vector3 body_get_applied_torque(RID p_body) const override;
- virtual void body_add_central_force(RID p_body, const Vector3 &p_force);
- virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos);
- virtual void body_add_torque(RID p_body, const Vector3 &p_torque);
+ virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override;
+ virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
+ virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override;
- virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse);
- virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
- virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
- virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
+ virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
+ virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
+ virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override;
+ virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override;
- virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
- virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const;
+ virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override;
+ virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override;
- virtual void body_add_collision_exception(RID p_body, RID p_body_b);
- virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
- virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
+ virtual void body_add_collision_exception(RID p_body, RID p_body_b) override;
+ virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override;
+ virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
- virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
- virtual int body_get_max_contacts_reported(RID p_body) const;
+ 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);
- virtual float body_get_contacts_reported_depth_threshold(RID p_body) const;
+ 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_omit_force_integration(RID p_body, bool p_omit);
- virtual bool body_is_omitting_force_integration(RID p_body) const;
+ 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;
- virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant());
+ virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) override;
- virtual void body_set_ray_pickable(RID p_body, bool p_enable);
- virtual bool body_is_ray_pickable(RID p_body) const;
+ virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
+ virtual bool body_is_ray_pickable(RID p_body) const override;
// this function only works on physics process, errors and returns null otherwise
- virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body);
+ 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);
- 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);
+ 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;
/* SOFT BODY API */
- virtual RID soft_body_create(bool p_init_sleeping = false);
+ virtual RID soft_body_create(bool p_init_sleeping = false) override;
- virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler);
+ virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) override;
- virtual void soft_body_set_space(RID p_body, RID p_space);
- virtual RID soft_body_get_space(RID p_body) const;
+ virtual void soft_body_set_space(RID p_body, RID p_space) override;
+ virtual RID soft_body_get_space(RID p_body) const override;
- virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh);
+ virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override;
- virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer);
- virtual uint32_t soft_body_get_collision_layer(RID p_body) const;
+ virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override;
+ virtual uint32_t soft_body_get_collision_layer(RID p_body) const override;
- virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask);
- virtual uint32_t soft_body_get_collision_mask(RID p_body) const;
+ virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override;
+ virtual uint32_t soft_body_get_collision_mask(RID p_body) const override;
- virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b);
- virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b);
- virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
+ virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override;
+ virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override;
+ virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
- virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
- virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const;
+ virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
+ virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override;
/// Special function. This function has bad performance
- virtual void soft_body_set_transform(RID p_body, const Transform &p_transform);
- virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const;
+ virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override;
+ virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const override;
- virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable);
- virtual bool soft_body_is_ray_pickable(RID p_body) const;
+ virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override;
+ virtual bool soft_body_is_ray_pickable(RID p_body) const override;
- virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision);
- virtual int soft_body_get_simulation_precision(RID p_body);
+ virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override;
+ virtual int soft_body_get_simulation_precision(RID p_body) override;
- virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass);
- virtual real_t soft_body_get_total_mass(RID p_body);
+ virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override;
+ virtual real_t soft_body_get_total_mass(RID p_body) override;
- virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness);
- virtual real_t soft_body_get_linear_stiffness(RID p_body);
+ 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);
- virtual real_t soft_body_get_areaAngular_stiffness(RID p_body);
+ 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_volume_stiffness(RID p_body, real_t p_stiffness);
- virtual real_t soft_body_get_volume_stiffness(RID p_body);
+ 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;
- virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient);
- virtual real_t soft_body_get_pressure_coefficient(RID p_body);
+ virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override;
+ virtual real_t soft_body_get_pressure_coefficient(RID p_body) override;
- virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient);
- virtual real_t soft_body_get_pose_matching_coefficient(RID p_body);
+ virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) override;
+ virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) override;
- virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient);
- virtual real_t soft_body_get_damping_coefficient(RID p_body);
+ virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override;
+ virtual real_t soft_body_get_damping_coefficient(RID p_body) override;
- virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient);
- virtual real_t soft_body_get_drag_coefficient(RID p_body);
+ virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override;
+ virtual real_t soft_body_get_drag_coefficient(RID p_body) override;
- virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position);
- virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index);
+ virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override;
+ virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) override;
- virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const;
+ virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const override;
- virtual void soft_body_remove_all_pinned_points(RID p_body);
- virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin);
- virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index);
+ virtual void soft_body_remove_all_pinned_points(RID p_body) override;
+ virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override;
+ virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) override;
/* JOINT API */
- virtual JointType joint_get_type(RID p_joint) const;
+ virtual JointType joint_get_type(RID p_joint) const override;
- virtual void joint_set_solver_priority(RID p_joint, int p_priority);
- virtual int joint_get_solver_priority(RID p_joint) const;
+ virtual void joint_set_solver_priority(RID p_joint, int p_priority) override;
+ virtual int joint_get_solver_priority(RID p_joint) const override;
- virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
- virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+ virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override;
+ virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override;
- virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
+ 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);
- virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const;
+ 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_local_a(RID p_joint, const Vector3 &p_A);
- virtual Vector3 pin_joint_get_local_a(RID p_joint) const;
+ 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;
- virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B);
- virtual Vector3 pin_joint_get_local_b(RID p_joint) const;
+ virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override;
+ virtual Vector3 pin_joint_get_local_b(RID p_joint) const override;
- virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B);
- virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
+ virtual 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);
- virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const;
+ 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_flag(RID p_joint, HingeJointFlag p_flag, bool p_value);
- virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const;
+ 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;
/// 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);
+ 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);
- virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const;
+ 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;
/// 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);
+ 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);
- virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const;
+ 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;
/// 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);
+ 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);
- virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param);
+ 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_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable);
- virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag);
+ 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);
- virtual int generic_6dof_joint_get_precision(RID p_joint);
+ 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);
+ virtual void free(RID p_rid) override;
- virtual void set_active(bool p_active) {
+ virtual void set_active(bool p_active) override {
active = p_active;
}
@@ -395,21 +395,21 @@ public:
return active;
}
- virtual void init();
- virtual void step(float p_deltaTime);
- virtual void sync();
- virtual void flush_queries();
- virtual void finish();
+ virtual void init() override;
+ virtual void step(float p_deltaTime) override;
+ virtual void sync() override;
+ virtual void flush_queries() override;
+ virtual void finish() override;
- virtual bool is_flushing_queries() const { return false; }
+ virtual bool is_flushing_queries() const override { return false; }
- virtual int get_process_info(ProcessInfo p_info);
+ virtual int get_process_info(ProcessInfo p_info) override;
- CollisionObjectBullet *get_collisin_object(RID p_object) const;
- RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const;
-
- /// Internal APIs
-public:
+ SpaceBullet *get_space(RID p_rid) const;
+ ShapeBullet *get_shape(RID p_rid) const;
+ CollisionObjectBullet *get_collision_object(RID p_object) const;
+ RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
+ JointBullet *get_joint(RID p_rid) const;
};
#endif
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index a3158a15e5..dd208965bd 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
- if (!bt_shape) {
+ if (bt_shape == nullptr) {
if (active) {
bt_shape = shape->create_bt_shape(scale * body_scale);
} else {
@@ -88,6 +88,13 @@ 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) {}
@@ -158,6 +165,13 @@ 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) {
@@ -319,16 +333,28 @@ 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;
}
- bulletdelete(shp.bt_shape);
+ shp.release_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);
@@ -336,41 +362,39 @@ void RigidCollisionObjectBullet::reload_shapes() {
mainShape = nullptr;
- ShapeWrapper *shpWrapper;
const int shape_count = shapes.size();
+ ShapeWrapper *shapes_ptr = shapes.ptrw();
- // Reset shape if required
+ // Reset all shapes if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
- shpWrapper = &shapes.write[i];
- bulletdelete(shpWrapper->bt_shape);
+ shapes_ptr[i].release_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) {
- shpWrapper = &shapes.write[0];
- btTransform transform = shpWrapper->get_adjusted_transform();
+ // Is it possible to optimize by not using compound?
+ btTransform transform = shapes_ptr[0].get_adjusted_transform();
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
- shpWrapper->claim_bt_shape(body_scale);
- mainShape = shpWrapper->bt_shape;
+ shapes_ptr[0].claim_bt_shape(body_scale);
+ mainShape = shapes_ptr[0].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) {
- shpWrapper = &shapes.write[i];
- shpWrapper->claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
+ shapes_ptr[i].claim_bt_shape(body_scale);
+ btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
- compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
+ compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
}
compoundShape->recalculateLocalAabb();
@@ -389,5 +413,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
- bulletdelete(shp.bt_shape);
+ shp.release_bt_shape();
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index f1423a69e4..ac74661f24 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -70,11 +70,12 @@ 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) :
@@ -107,6 +108,7 @@ public:
btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
+ void release_bt_shape();
};
protected:
@@ -124,6 +126,8 @@ 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
@@ -131,6 +135,9 @@ protected:
bool isTransformChanged = false;
public:
+ bool is_in_world = false;
+
+public:
CollisionObjectBullet(Type p_type);
virtual ~CollisionObjectBullet();
@@ -183,13 +190,21 @@ public:
return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
}
- virtual void reload_body() = 0;
+ bool need_reload_body() const {
+ return need_body_reload;
+ }
+
+ void reload_body() {
+ need_body_reload = true;
+ }
+ virtual void do_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);
@@ -215,6 +230,7 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn
protected:
btCollisionShape *mainShape = nullptr;
Vector<ShapeWrapper> shapes;
+ bool need_shape_reload = true;
public:
RigidCollisionObjectBullet(Type p_type) :
@@ -246,8 +262,12 @@ 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);
- virtual void reload_shapes();
+ void reload_shapes();
+ bool need_reload_shapes() const { return need_shape_reload; }
+ virtual void do_reload_shapes();
virtual void main_shape_changed() = 0;
virtual void body_scale_changed();
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index f82648d6ff..e1f950dad1 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -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 (needs) {
+ if (m_pickRay || needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 2fca7fe633..717c99c738 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -118,8 +118,8 @@ void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
-void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
- body->apply_force(p_force, p_pos);
+void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+ body->apply_force(p_force, p_position);
}
void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
@@ -130,8 +130,8 @@ void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impu
body->apply_central_impulse(p_impulse);
}
-void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- body->apply_impulse(p_pos, p_impulse);
+void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ body->apply_impulse(p_impulse, p_position);
}
void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -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->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
WARN_PRINT("This shape is not supported for kinematic collision.");
@@ -307,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
-void RigidBodyBullet::reload_body() {
+void RigidBodyBullet::do_reload_body() {
if (space) {
space->remove_rigid_body(this);
if (get_main_shape()) {
@@ -320,18 +320,21 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
can_integrate_forces = false;
+ isScratchedSpaceOverrideModificator = false;
// Remove all eventual constraints
assert_no_constraints();
// Remove this object form the physics world
+ space->unregister_collision_object(this);
space->remove_rigid_body(this);
}
space = p_space;
if (space) {
- space->add_rigid_body(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
@@ -445,11 +448,6 @@ 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.");
}
- /*for(int i = btBody->getNumConstraintRefs()-1; 0<=i; --i){
- btTypedConstraint* btConst = btBody->getConstraintRef(i);
- JointBullet* joint = static_cast<JointBullet*>( btConst->getUserConstraintPtr() );
- space->removeConstraint(joint);
- }*/
}
void RigidBodyBullet::set_activation_state(bool p_active) {
@@ -609,23 +607,23 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
}
void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
- btVector3 btImpu;
- G_TO_B(p_impulse, btImpu);
+ btVector3 btImpulse;
+ G_TO_B(p_impulse, btImpulse);
if (Vector3() != p_impulse) {
btBody->activate();
}
- btBody->applyCentralImpulse(btImpu);
+ btBody->applyCentralImpulse(btImpulse);
}
-void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- btVector3 btImpu;
- btVector3 btPos;
- G_TO_B(p_impulse, btImpu);
- G_TO_B(p_pos, btPos);
+void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ btVector3 btImpulse;
+ btVector3 btPosition;
+ G_TO_B(p_impulse, btImpulse);
+ G_TO_B(p_position, btPosition);
if (Vector3() != p_impulse) {
btBody->activate();
}
- btBody->applyImpulse(btImpu, btPos);
+ btBody->applyImpulse(btImpulse, btPosition);
}
void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -637,15 +635,15 @@ void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
btBody->applyTorqueImpulse(btImp);
}
-void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) {
+void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
btVector3 btForce;
- btVector3 btPos;
+ btVector3 btPosition;
G_TO_B(p_force, btForce);
- G_TO_B(p_pos, btPos);
+ G_TO_B(p_position, btPosition);
if (Vector3() != p_force) {
btBody->activate();
}
- btBody->applyForce(btForce, btPos);
+ btBody->applyForce(btForce, btPosition);
}
void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
@@ -808,8 +806,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::reload_shapes() {
- RigidCollisionObjectBullet::reload_shapes();
+void RigidBodyBullet::do_reload_shapes() {
+ RigidCollisionObjectBullet::do_reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 6d159504b8..eb62d0d39e 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -88,57 +88,57 @@ private:
BulletPhysicsDirectBodyState3D() {}
public:
- virtual Vector3 get_total_gravity() const;
- virtual float get_total_angular_damp() const;
- virtual float get_total_linear_damp() const;
+ virtual Vector3 get_total_gravity() const override;
+ virtual float get_total_angular_damp() const override;
+ virtual float get_total_linear_damp() const override;
- virtual Vector3 get_center_of_mass() const;
- virtual Basis get_principal_inertia_axes() const;
+ 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;
+ virtual float get_inverse_mass() const override;
// get density of this body space
- virtual Vector3 get_inverse_inertia() const;
+ virtual Vector3 get_inverse_inertia() const override;
// get density of this body space
- virtual Basis get_inverse_inertia_tensor() const;
+ virtual Basis get_inverse_inertia_tensor() const override;
- virtual void set_linear_velocity(const Vector3 &p_velocity);
- virtual Vector3 get_linear_velocity() const;
+ virtual void set_linear_velocity(const Vector3 &p_velocity) override;
+ virtual Vector3 get_linear_velocity() const override;
- virtual void set_angular_velocity(const Vector3 &p_velocity);
- virtual Vector3 get_angular_velocity() const;
+ virtual void set_angular_velocity(const Vector3 &p_velocity) override;
+ virtual Vector3 get_angular_velocity() const override;
- virtual void set_transform(const Transform &p_transform);
- virtual Transform get_transform() const;
+ virtual void set_transform(const Transform &p_transform) override;
+ virtual Transform get_transform() const override;
- virtual void add_central_force(const Vector3 &p_force);
- virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
- virtual void add_torque(const Vector3 &p_torque);
- virtual void apply_central_impulse(const Vector3 &p_impulse);
- virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
- virtual void apply_torque_impulse(const Vector3 &p_impulse);
+ virtual void add_central_force(const Vector3 &p_force) override;
+ virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
+ virtual void add_torque(const Vector3 &p_torque) override;
+ virtual void apply_central_impulse(const Vector3 &p_impulse) override;
+ virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
+ virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
- virtual void set_sleep_state(bool p_sleep);
- virtual bool is_sleeping() const;
+ virtual void set_sleep_state(bool p_sleep) override;
+ virtual bool is_sleeping() const override;
- virtual int get_contact_count() const;
+ virtual int get_contact_count() const override;
- virtual Vector3 get_contact_local_position(int p_contact_idx) const;
- virtual Vector3 get_contact_local_normal(int p_contact_idx) const;
- virtual float get_contact_impulse(int p_contact_idx) const;
- virtual int get_contact_local_shape(int p_contact_idx) const;
+ 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 int get_contact_local_shape(int p_contact_idx) const override;
- virtual RID get_contact_collider(int p_contact_idx) const;
- virtual Vector3 get_contact_collider_position(int p_contact_idx) const;
- virtual ObjectID get_contact_collider_id(int p_contact_idx) const;
- virtual int get_contact_collider_shape(int p_contact_idx) const;
- virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const;
+ virtual RID get_contact_collider(int p_contact_idx) const override;
+ virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
+ virtual ObjectID get_contact_collider_id(int p_contact_idx) const override;
+ virtual int get_contact_collider_shape(int p_contact_idx) const override;
+ virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;
- virtual real_t get_step() const { return deltaTime; }
- virtual void integrate_forces() {
+ virtual real_t get_step() const override { return deltaTime; }
+ virtual void integrate_forces() override {
// Skip the execution of this function
}
- virtual PhysicsDirectSpaceState3D *get_space_state();
+ virtual PhysicsDirectSpaceState3D *get_space_state() override;
};
class RigidBodyBullet : public RigidCollisionObjectBullet {
@@ -236,7 +236,7 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
virtual void main_shape_changed();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
@@ -284,12 +284,12 @@ public:
void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
Variant get_state(PhysicsServer3D::BodyState p_state) const;
- void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
void apply_central_impulse(const Vector3 &p_impulse);
+ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void apply_torque_impulse(const Vector3 &p_impulse);
- void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
void apply_central_force(const Vector3 &p_force);
+ void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
void apply_torque(const Vector3 &p_torque);
void set_applied_force(const Vector3 &p_force);
@@ -315,7 +315,7 @@ public:
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
- virtual void reload_shapes();
+ virtual void do_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 d53f1e7d17..f4550c2024 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -46,9 +46,15 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {}
+ShapeBullet::ShapeBullet() {
+}
-ShapeBullet::~ShapeBullet() {}
+ShapeBullet::~ShapeBullet() {
+ if (default_shape != nullptr) {
+ bulletdelete(default_shape);
+ default_shape = nullptr;
+ }
+}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
@@ -56,6 +62,22 @@ 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);
@@ -63,10 +85,21 @@ 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) {
@@ -186,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *PlaneShapeBullet::internal_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));
@@ -214,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *SphereShapeBullet::internal_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));
}
@@ -241,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *BoxShapeBullet::internal_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)));
}
@@ -274,7 +307,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+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));
}
@@ -307,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *CylinderShapeBullet::internal_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));
}
@@ -349,7 +382,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConvexPolygonShapeBullet::internal_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());
@@ -431,7 +464,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConcavePolygonShapeBullet::internal_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
@@ -555,7 +588,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *HeightMapShapeBullet::internal_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);
@@ -588,6 +621,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *RayShapeBullet::internal_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 b24ded574f..6ca4d36a23 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -31,7 +31,7 @@
#ifndef SHAPE_BULLET_H
#define SHAPE_BULLET_H
-#include "core/math/geometry.h"
+#include "core/math/geometry_3d.h"
#include "core/variant.h"
#include "rid_bullet.h"
#include "servers/physics_server_3d.h"
@@ -53,6 +53,10 @@ 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;
@@ -63,7 +67,11 @@ public:
virtual ~ShapeBullet();
btCollisionShape *create_bt_shape(const Vector3 &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) = 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;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
@@ -102,7 +110,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Plane &p_plane);
@@ -118,7 +126,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_radius);
@@ -134,7 +142,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -152,7 +160,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_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);
@@ -170,7 +178,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -186,7 +194,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -204,7 +212,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<Vector3> p_faces);
@@ -223,7 +231,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_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 +247,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_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/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 6794d6c313..3fccd3d8a2 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() :
SoftBodyBullet::~SoftBodyBullet() {
}
-void SoftBodyBullet::reload_body() {
+void SoftBodyBullet::do_reload_body() {
if (space) {
space->remove_soft_body(this);
space->add_soft_body(this);
@@ -51,13 +51,15 @@ void SoftBodyBullet::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->add_soft_body(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index da8a2412ed..ba968f4271 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -87,7 +87,7 @@ public:
SoftBodyBullet();
~SoftBodyBullet();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks() {}
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 99f58e7059..9dc307c629 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -123,10 +123,11 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
}
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
+ ERR_FAIL_COND_V(!shape, 0);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
@@ -146,25 +147,28 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
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) {
+ r_closest_safe = 0.0f;
+ r_closest_unsafe = 0.0f;
+ btVector3 bt_motion;
+ G_TO_B(p_motion, bt_motion);
+
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()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
- btVector3 bt_motion;
- G_TO_B(p_motion, bt_motion);
-
btTransform bt_xform_from;
G_TO_B(p_xform, bt_xform_from);
UNSCALE_BT_BASIS(bt_xform_from);
@@ -172,15 +176,16 @@ 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()) {
+ return false;
+ }
+
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;
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
- r_closest_unsafe = 1.0;
- r_closest_safe = 1.0;
-
if (btResult.hasHit()) {
const btScalar l = bt_motion.length();
r_closest_unsafe = btResult.m_closestHitFraction;
@@ -196,9 +201,12 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_info->collider_id = collision_object->get_instance_id();
r_info->shape = btResult.m_shapeId;
}
+ } else {
+ r_closest_safe = 1.0f;
+ r_closest_unsafe = 1.0f;
}
- bulletdelete(bt_convex_shape);
+ shape->destroy_bt_shape(btShape);
return true; // Mean success
}
@@ -209,10 +217,11 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
}
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()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -233,17 +242,18 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
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) {
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()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -263,7 +273,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
if (btQuery.m_collided) {
if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
@@ -276,7 +286,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
}
Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
- RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object);
+ RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object);
ERR_FAIL_COND_V(!rigid_object, Vector3());
btVector3 out_closest_point(0, 0, 0);
@@ -339,9 +349,11 @@ SpaceBullet::~SpaceBullet() {
}
void SpaceBullet::flush_queries() {
- const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
- for (int i = colObjArray.size() - 1; 0 <= i; --i) {
- static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
+ 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();
}
}
@@ -438,16 +450,30 @@ 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) {
- areas.erase(p_area);
- dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
+ if (p_area->is_in_world) {
+ areas.erase(p_area);
+ dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
+ p_area->is_in_world = false;
+ }
}
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();
@@ -457,24 +483,46 @@ 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_static()) {
- dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
- } else {
- dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_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());
+ }
+ p_body->is_in_world = false;
}
}
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
+ if (p_body->is_in_world == false) {
+ return;
+ }
btRigidBody *rigid_body = p_body->get_bt_rigid_body();
btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
@@ -531,10 +579,6 @@ void SpaceBullet::remove_all_collision_objects() {
}
}
-void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
- static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo())->flush_queries();
-}
-
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
@@ -602,7 +646,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
dynamicsWorld->setWorldUserInfo(this);
- dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true);
dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false);
dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check
dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback);
@@ -939,7 +982,7 @@ 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;
}
@@ -961,6 +1004,11 @@ 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();
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 5ff421ef52..aa9a70594e 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -76,14 +76,14 @@ private:
public:
BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
- 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);
- 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);
- 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);
- 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);
+ 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;
/// 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);
- 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);
- virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
+ 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 Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
};
class SpaceBullet : public RIDBullet {
@@ -110,6 +110,7 @@ class SpaceBullet : public RIDBullet {
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
+ Vector<CollisionObjectBullet *> collision_objects;
Vector<AreaBullet *> areas;
Vector<Vector3> contactDebug;
@@ -124,9 +125,12 @@ public:
real_t get_delta_time() { return delta_time; }
void step(real_t p_delta_time);
- _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
- _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
- _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
+ _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; }
+ _FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
+ _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
+ _FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
+ _FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
+ _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; }
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
/// Used to set some parameters to Bullet world
@@ -147,6 +151,9 @@ 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(RigidBodyBullet *p_body);
void reload_collision_filters(RigidBodyBullet *p_body);
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-02 19:37:53 +0000