diff options
Diffstat (limited to 'modules/bullet')
49 files changed, 1344 insertions, 1415 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 692c749886..ba57de303e 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -7,9 +7,13 @@ env_bullet = env_modules.Clone() # Thirdparty source files +thirdparty_obj = [] + if env["builtin_bullet"]: # Build only version 2 for now (as of 2.89) # Sync file list with relevant upstream CMakeLists.txt for each folder. + if env["float"] == "64": + env.Append(CPPDEFINES=["BT_USE_DOUBLE_PRECISION=1"]) thirdparty_dir = "#thirdparty/bullet/" bullet2_src = [ @@ -175,6 +179,7 @@ if env["builtin_bullet"]: "BulletSoftBody/btDeformableContactProjection.cpp", "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp", "BulletSoftBody/btDeformableContactConstraint.cpp", + "BulletSoftBody/poly34.cpp", # clew "clew/clew.c", # LinearMath @@ -200,13 +205,23 @@ 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"]) env_thirdparty = env_bullet.Clone() env_thirdparty.disable_warnings() - env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) + env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources) + env.modules_sources += thirdparty_obj # Godot source files -env_bullet.add_source_files(env.modules_sources, "*.cpp") + +module_obj = [] + +env_bullet.add_source_files(module_obj, "*.cpp") +env.modules_sources += module_obj + +# Needed to force rebuilding the module files when the thirdparty library is updated. +env.Depends(module_obj, thirdparty_obj) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 4d727529ef..c3bd84c329 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -44,19 +44,7 @@ */ AreaBullet::AreaBullet() : - RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA), - monitorable(true), - spOv_mode(PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED), - spOv_gravityPoint(false), - spOv_gravityPointDistanceScale(0), - spOv_gravityPointAttenuation(1), - spOv_gravityVec(0, -1, 0), - spOv_gravityMag(10), - spOv_linearDump(0.1), - spOv_angularDump(1), - spOv_priority(0), - isScratched(false) { - + RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA) { btGhost = bulletnew(btGhostObject); reload_shapes(); setupBulletCollisionObject(btGhost); @@ -64,19 +52,22 @@ AreaBullet::AreaBullet() : /// In order to use collision objects as trigger, you have to disable the collision response. set_collision_enabled(false); - for (int i = 0; i < 5; ++i) + for (int i = 0; i < 5; ++i) { call_event_res_ptr[i] = &call_event_res[i]; + } } AreaBullet::~AreaBullet() { // signal are handled by godot, so just clear without notify - for (int i = overlappingObjects.size() - 1; 0 <= i; --i) + for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { overlappingObjects[i].object->on_exit_area(this); + } } void AreaBullet::dispatch_callbacks() { - if (!isScratched) + if (!isScratched) { return; + } isScratched = false; // Reverse order because I've to remove EXIT objects @@ -102,7 +93,6 @@ void AreaBullet::dispatch_callbacks() { } void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status) { - InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_otherObject->getType())]; Object *areaGodoObject = ObjectDB::get_instance(event.event_callback_id); @@ -122,15 +112,17 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3 } void AreaBullet::scratch() { - if (isScratched) + if (isScratched) { return; + } isScratched = true; } void AreaBullet::clear_overlaps(bool p_notify) { for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { - if (p_notify) + if (p_notify) { call_event(overlappingObjects[i].object, PhysicsServer3D::AREA_BODY_REMOVED); + } overlappingObjects[i].object->on_exit_area(this); } overlappingObjects.clear(); @@ -139,8 +131,9 @@ void AreaBullet::clear_overlaps(bool p_notify) { void AreaBullet::remove_overlap(CollisionObjectBullet *p_object, bool p_notify) { for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { if (overlappingObjects[i].object == p_object) { - if (p_notify) + if (p_notify) { call_event(overlappingObjects[i].object, PhysicsServer3D::AREA_BODY_REMOVED); + } overlappingObjects[i].object->on_exit_area(this); overlappingObjects.remove(i); break; @@ -181,6 +174,7 @@ 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 diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index 0272350510..7cf666c119 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define AREABULLET_H #include "collision_object_bullet.h" -#include "core/vector.h" +#include "core/templates/vector.h" #include "servers/physics_server_3d.h" #include "space_bullet.h" @@ -61,12 +61,10 @@ public: }; struct OverlappingObjectData { - CollisionObjectBullet *object; - OverlapState state; + CollisionObjectBullet *object = nullptr; + OverlapState state = OVERLAP_STATE_ENTER; - OverlappingObjectData() : - object(nullptr), - state(OVERLAP_STATE_ENTER) {} + OverlappingObjectData() {} OverlappingObjectData(CollisionObjectBullet *p_object, OverlapState p_state) : object(p_object), state(p_state) {} @@ -82,23 +80,23 @@ public: private: // These are used by function callEvent. Instead to create this each call I create if one time. Variant call_event_res[5]; - Variant *call_event_res_ptr[5]; + Variant *call_event_res_ptr[5] = {}; - btGhostObject *btGhost; + btGhostObject *btGhost = nullptr; Vector<OverlappingObjectData> overlappingObjects; - bool monitorable; - - PhysicsServer3D::AreaSpaceOverrideMode spOv_mode; - bool spOv_gravityPoint; - real_t spOv_gravityPointDistanceScale; - real_t spOv_gravityPointAttenuation; - Vector3 spOv_gravityVec; - real_t spOv_gravityMag; - real_t spOv_linearDump; - real_t spOv_angularDump; - int spOv_priority; - - bool isScratched; + bool monitorable = true; + + PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; + bool spOv_gravityPoint = false; + real_t spOv_gravityPointDistanceScale = 0.0; + real_t spOv_gravityPointAttenuation = 1.0; + Vector3 spOv_gravityVec = Vector3(0, -1, 0); + real_t spOv_gravityMag = 10.0; + real_t spOv_linearDump = 0.1; + real_t spOv_angularDump = 0.1; + int spOv_priority = 0; + + bool isScratched = false; InOutEventCallback eventsCallbacks[2]; diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index 0f54f848dc..109854c9dd 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -39,18 +39,15 @@ */ btRayShape::btRayShape(btScalar length) : - btConvexInternalShape(), - m_shapeAxis(0, 0, 1) { + btConvexInternalShape() { m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE; setLength(length); - slipsOnSlope = false; } btRayShape::~btRayShape() { } void btRayShape::setLength(btScalar p_length) { - m_length = p_length; reload_cache(); } @@ -61,7 +58,6 @@ void btRayShape::setMargin(btScalar margin) { } void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) { - slipsOnSlope = p_slipsOnSlope; } @@ -70,10 +66,11 @@ btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const { } btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const { - if (vec.z() > 0) + if (vec.z() > 0) { return m_shapeAxis * m_cacheScaledLength; - else + } else { return btVector3(0, 0, 0); + } } void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const { @@ -101,7 +98,6 @@ void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrat } void btRayShape::reload_cache() { - m_cacheScaledLength = m_length * m_localScaling[2]; m_cacheSupportPoint.setIdentity(); diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index df6dd93d57..330755aa31 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,11 +42,10 @@ /// Ray shape around z axis ATTRIBUTE_ALIGNED16(class) btRayShape : public btConvexInternalShape { - - btScalar m_length; - bool slipsOnSlope; + btScalar m_length = 0; + bool slipsOnSlope = false; /// The default axis is the z - btVector3 m_shapeAxis; + btVector3 m_shapeAxis = btVector3(0, 0, 1); btTransform m_cacheSupportPoint; btScalar m_cacheScaledLength; diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 2705c749a2..ed05e51e53 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,9 +32,9 @@ #include "bullet_utilities.h" #include "cone_twist_joint_bullet.h" -#include "core/class_db.h" -#include "core/error_macros.h" -#include "core/ustring.h" +#include "core/error/error_macros.h" +#include "core/object/class_db.h" +#include "core/string/ustring.h" #include "generic_6dof_joint_bullet.h" #include "hinge_joint_bullet.h" #include "pin_joint_bullet.h" @@ -79,9 +79,7 @@ void BulletPhysicsServer3D::_bind_methods() { } BulletPhysicsServer3D::BulletPhysicsServer3D() : - PhysicsServer3D(), - active(true), - active_spaces_count(0) {} + PhysicsServer3D() {} BulletPhysicsServer3D::~BulletPhysicsServer3D() {} @@ -89,36 +87,28 @@ RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) { ShapeBullet *shape = nullptr; switch (p_shape) { - case SHAPE_PLANE: { - - shape = bulletnew(PlaneShapeBullet); + case SHAPE_WORLD_BOUNDARY: { + shape = bulletnew(WorldBoundaryShapeBullet); } break; case SHAPE_SPHERE: { - shape = bulletnew(SphereShapeBullet); } break; case SHAPE_BOX: { - shape = bulletnew(BoxShapeBullet); } break; case SHAPE_CAPSULE: { - shape = bulletnew(CapsuleShapeBullet); } break; case SHAPE_CYLINDER: { - shape = bulletnew(CylinderShapeBullet); } break; case SHAPE_CONVEX_POLYGON: { - shape = bulletnew(ConvexPolygonShapeBullet); } break; case SHAPE_CONCAVE_POLYGON: { - shape = bulletnew(ConcavePolygonShapeBullet); } break; case SHAPE_HEIGHTMAP: { - shape = bulletnew(HeightMapShapeBullet); } break; case SHAPE_RAY: { @@ -178,7 +168,6 @@ RID BulletPhysicsServer3D::space_create() { } void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) { - SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); @@ -279,7 +268,7 @@ PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_ove return area->get_spOv_mode(); } -void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) { +void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -299,7 +288,7 @@ void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_sh area->set_shape(p_shape_idx, shape); } -void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) { +void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -320,9 +309,9 @@ RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const { return area->get_shape(p_shape_idx)->get_self(); } -Transform BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { +Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { AreaBullet *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform()); + ERR_FAIL_COND_V(!area, Transform3D()); return area->get_shape_transform(p_shape_idx); } @@ -337,8 +326,9 @@ void BulletPhysicsServer3D::area_clear_shapes(RID p_area) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); - for (int i = area->get_shape_count(); 0 < i; --i) + for (int i = area->get_shape_count(); 0 < i; --i) { area->remove_shape_full(0); + } } void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { @@ -373,7 +363,6 @@ void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, co space->set_param(p_param, p_value); } } else { - AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -393,15 +382,15 @@ Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) } } -void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform &p_transform) { +void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_transform(p_transform); } -Transform BulletPhysicsServer3D::area_get_transform(RID p_area) const { +Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform()); + ERR_FAIL_COND_V(!area, Transform3D()); return area->get_transform(); } @@ -444,19 +433,14 @@ void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) { area->set_ray_pickable(p_enable); } -bool BulletPhysicsServer3D::area_is_ray_pickable(RID p_area) const { - AreaBullet *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, false); - return area->is_ray_pickable(); -} - RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) { RigidBodyBullet *body = bulletnew(RigidBodyBullet); body->set_mode(p_mode); body->set_collision_layer(1); body->set_collision_mask(1); - if (p_init_sleeping) + if (p_init_sleeping) { body->set_state(BODY_STATE_SLEEPING, p_init_sleeping); + } CreateThenReturnRID(rigid_body_owner, body); } @@ -470,8 +454,9 @@ void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) { ERR_FAIL_COND(!space); } - if (body->get_space() == space) - return; //pointles + if (body->get_space() == space) { + return; //pointless + } body->set_space(space); } @@ -481,8 +466,9 @@ RID BulletPhysicsServer3D::body_get_space(RID p_body) const { ERR_FAIL_COND_V(!body, RID()); SpaceBullet *space = body->get_space(); - if (!space) + if (!space) { return RID(); + } return space->get_self(); } @@ -498,8 +484,7 @@ PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const return body->get_mode(); } -void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) { - +void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -519,7 +504,7 @@ void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_sh body->set_shape(p_shape_idx, shape); } -void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) { +void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -542,9 +527,9 @@ RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const { return shape->get_self(); } -Transform BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { +Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Transform()); + ERR_FAIL_COND_V(!body, Transform3D()); return body->get_shape_transform(p_shape_idx); } @@ -570,14 +555,14 @@ 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(); @@ -626,22 +611,22 @@ uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const { } void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { - // This function si not currently supported + // This function is not currently supported } uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { - // This function si not currently supported + // This function is not currently supported return 0; } -void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) { +void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } -float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { +real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); @@ -653,7 +638,6 @@ void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_ ERR_FAIL_COND(!body); if (body->get_kinematic_utilities()) { - body->get_kinematic_utilities()->setSafeMargin(p_margin); } } @@ -663,7 +647,6 @@ real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const { ERR_FAIL_COND_V(!body, 0); if (body->get_kinematic_utilities()) { - return body->get_kinematic_utilities()->safe_margin; } @@ -718,11 +701,11 @@ 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) { @@ -739,11 +722,11 @@ 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) { @@ -818,11 +801,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { return body->get_max_collisions_detection(); } -void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) { +void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { // Not supported by bullet and even Godot } -float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { +real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { // Not supported by bullet and even Godot return 0.; } @@ -841,10 +824,10 @@ bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const return body->get_omit_forces_integration(); } -void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { +void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method, p_udata); + body->set_force_integration_callback(p_callable, p_udata); } void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) { @@ -853,27 +836,21 @@ void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) { body->set_ray_pickable(p_enable); } -bool BulletPhysicsServer3D::body_is_ray_pickable(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - return body->is_ray_pickable(); -} - PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, nullptr); return BulletPhysicsDirectBodyState3D::get_singleton(body); } -bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) { +bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); - return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); + return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude); } -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); @@ -885,12 +862,13 @@ RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) { SoftBodyBullet *body = bulletnew(SoftBodyBullet); body->set_collision_layer(1); body->set_collision_mask(1); - if (p_init_sleeping) + if (p_init_sleeping) { body->set_activation_state(false); + } CreateThenReturnRID(soft_body_owner, body); } -void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) { +void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -907,8 +885,9 @@ void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) { ERR_FAIL_COND(!space); } - if (body->get_space() == space) - return; //pointles + if (body->get_space() == space) { + return; //pointless + } body->set_space(space); } @@ -918,8 +897,9 @@ RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const { ERR_FAIL_COND_V(!body, RID()); SpaceBullet *space = body->get_space(); - if (!space) + if (!space) { return RID(); + } return space->get_self(); } @@ -930,6 +910,13 @@ void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) { body->set_soft_mesh(p_mesh); } +AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, AABB()); + + return body->get_bounds(); +} + void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -1003,41 +990,26 @@ Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state return Variant(); } -void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform &p_transform) { +void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_soft_transform(p_transform); } -Vector3 BulletPhysicsServer3D::soft_body_get_vertex_position(RID p_body, int vertex_index) const { - const SoftBodyBullet *body = soft_body_owner.getornull(p_body); - Vector3 pos; - ERR_FAIL_COND_V(!body, pos); - - body->get_node_position(vertex_index, pos); - return pos; -} - void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_ray_pickable(p_enable); } -bool BulletPhysicsServer3D::soft_body_is_ray_pickable(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - return body->is_ray_pickable(); -} - void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_simulation_precision(p_simulation_precision); } -int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) { +int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_simulation_precision(); @@ -1049,13 +1021,13 @@ void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_ body->set_total_mass(p_total_mass); } -real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_total_mass(); } -void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { +void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_linear_stiffness(p_stiffness); @@ -1067,61 +1039,25 @@ real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) { return body->get_linear_stiffness(); } -void BulletPhysicsServer3D::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_areaAngular_stiffness(p_stiffness); -} - -real_t BulletPhysicsServer3D::soft_body_get_areaAngular_stiffness(RID p_body) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_areaAngular_stiffness(); -} - -void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_volume_stiffness(p_stiffness); -} - -real_t BulletPhysicsServer3D::soft_body_get_volume_stiffness(RID p_body) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_volume_stiffness(); -} - void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_pressure_coefficient(p_pressure_coefficient); } -real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_pressure_coefficient(); } -void BulletPhysicsServer3D::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - return body->set_pose_matching_coefficient(p_pose_matching_coefficient); -} - -real_t BulletPhysicsServer3D::soft_body_get_pose_matching_coefficient(RID p_body) { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_pose_matching_coefficient(); -} - void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_damping_coefficient(p_damping_coefficient); } -real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_damping_coefficient(); @@ -1133,7 +1069,7 @@ void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_ body->set_drag_coefficient(p_drag_coefficient); } -real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_drag_coefficient(); @@ -1145,7 +1081,7 @@ void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, body->set_node_position(p_point_index, p_global_position); } -Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) { +Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.)); Vector3 pos; @@ -1153,14 +1089,6 @@ Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, i return pos; } -Vector3 BulletPhysicsServer3D::soft_body_get_point_offset(RID p_body, int p_point_index) const { - SoftBodyBullet *body = soft_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - Vector3 res; - body->get_node_offset(p_point_index, res); - return res; -} - void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -1173,7 +1101,7 @@ void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, b body->set_node_mass(p_point_index, p_pin ? 0 : 1); } -bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) { +bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_node_mass(p_point_index); @@ -1229,7 +1157,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { +void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); @@ -1237,7 +1165,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par pin_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { +real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); @@ -1277,7 +1205,7 @@ Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const { return pin_joint->getPivotInB(); } -RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) { +RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1317,7 +1245,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { +void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); @@ -1325,7 +1253,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p hinge_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { +real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); @@ -1349,7 +1277,7 @@ bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_f return hinge_joint->get_flag(p_flag); } -RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1369,7 +1297,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_ CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { +void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); @@ -1377,7 +1305,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam slider_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { +real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); @@ -1385,7 +1313,7 @@ float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointPara return slider_joint->get_param(p_param); } -RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1403,7 +1331,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { +void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); @@ -1411,7 +1339,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi coneTwist_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { +real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0.); ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); @@ -1419,7 +1347,7 @@ float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJo return coneTwist_joint->get_param(p_param); } -RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1439,7 +1367,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { +void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); @@ -1447,7 +1375,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A generic_6dof_joint->set_param(p_axis, p_param, p_value); } -float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { +real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); @@ -1471,25 +1399,8 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax return generic_6dof_joint->get_flag(p_axis, p_flag); } -void BulletPhysicsServer3D::generic_6dof_joint_set_precision(RID p_joint, int p_precision) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - generic_6dof_joint->set_precision(p_precision); -} - -int BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - return generic_6dof_joint->get_precision(); -} - void BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { - ShapeBullet *shape = shape_owner.getornull(p_rid); // Notify the shape is configured @@ -1500,7 +1411,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { shape_owner.free(p_rid); bulletdelete(shape); } else if (rigid_body_owner.owns(p_rid)) { - RigidBodyBullet *body = rigid_body_owner.getornull(p_rid); body->set_space(nullptr); @@ -1511,7 +1421,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(body); } else if (soft_body_owner.owns(p_rid)) { - SoftBodyBullet *body = soft_body_owner.getornull(p_rid); body->set_space(nullptr); @@ -1520,7 +1429,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(body); } else if (area_owner.owns(p_rid)) { - AreaBullet *area = area_owner.getornull(p_rid); area->set_space(nullptr); @@ -1531,14 +1439,12 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(area); } else if (joint_owner.owns(p_rid)) { - JointBullet *joint = joint_owner.getornull(p_rid); joint->destroy_internal_constraint(); joint_owner.free(p_rid); bulletdelete(joint); } else if (space_owner.owns(p_rid)) { - SpaceBullet *space = space_owner.getornull(p_rid); space->remove_all_collision_objects(); @@ -1547,7 +1453,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { space_owner.free(p_rid); bulletdelete(space); } else { - ERR_FAIL_MSG("Invalid ID."); } } @@ -1556,22 +1461,26 @@ void BulletPhysicsServer3D::init() { BulletPhysicsDirectBodyState3D::initSingleton(); } -void BulletPhysicsServer3D::step(float p_deltaTime) { - if (!active) +void BulletPhysicsServer3D::step(real_t p_deltaTime) { + if (!active) { return; + } BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime); for (int i = 0; i < active_spaces_count; ++i) { - active_spaces[i]->step(p_deltaTime); } } -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() { @@ -1582,7 +1491,17 @@ 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); } @@ -1592,15 +1511,20 @@ 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 ea9c5e589e..7f0934e679 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,14 +32,15 @@ #define BULLET_PHYSICS_SERVER_H #include "area_bullet.h" -#include "core/rid.h" -#include "core/rid_owner.h" +#include "core/templates/rid.h" +#include "core/templates/rid_owner.h" #include "joint_bullet.h" #include "rigid_body_bullet.h" #include "servers/physics_server_3d.h" #include "shape_bullet.h" #include "soft_body_bullet.h" #include "space_bullet.h" + /** @author AndreaCatania */ @@ -49,8 +50,8 @@ class BulletPhysicsServer3D : public PhysicsServer3D { friend class BulletPhysicsDirectSpaceState; - bool active; - char active_spaces_count; + bool active = true; + char active_spaces_count = 0; Vector<SpaceBullet *> active_spaces; mutable RID_PtrOwner<SpaceBullet> space_owner; @@ -87,35 +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 */ @@ -124,265 +125,249 @@ 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 Transform3D &p_transform = Transform3D(), 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 Transform3D &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 Transform3D 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 Transform3D &p_transform) override; + virtual Transform3D 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; /* 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_DYNAMIC, 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 Transform3D &p_transform = Transform3D(), 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 Transform3D &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 Transform3D 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, real_t p_value) override; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; - virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin); - 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, real_t p_threshold) override; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override; - virtual void body_set_omit_force_integration(RID p_body, bool p_omit); - 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, const Callable &p_callable, 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; // 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 Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override; + virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; /* SOFT BODY API */ - virtual RID soft_body_create(bool p_init_sleeping = false); - - virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler); - - virtual void soft_body_set_space(RID p_body, RID p_space); - virtual RID soft_body_get_space(RID p_body) const; + virtual RID soft_body_create(bool p_init_sleeping = false) override; - virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh); + virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) 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_space(RID p_body, RID p_space) override; + virtual RID soft_body_get_space(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_mesh(RID p_body, const REF &p_mesh) 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 AABB soft_body_get_bounds(RID p_body) const 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; - - /// 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_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_ray_pickable(RID p_body, bool p_enable); - virtual bool soft_body_is_ray_pickable(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_set_simulation_precision(RID p_body, int p_simulation_precision); - virtual int soft_body_get_simulation_precision(RID p_body); + 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_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_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; - 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); + /// Special function. This function has bad performance + virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) 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_ray_pickable(RID p_body, bool p_enable) 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_simulation_precision(RID p_body, int p_simulation_precision) override; + virtual int soft_body_get_simulation_precision(RID p_body) const 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_total_mass(RID p_body, real_t p_total_mass) override; + virtual real_t soft_body_get_total_mass(RID p_body) const 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_linear_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_linear_stiffness(RID p_body) const 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_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override; + virtual real_t soft_body_get_pressure_coefficient(RID p_body) const 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_damping_coefficient(RID p_body, real_t p_damping_coefficient) override; + virtual real_t soft_body_get_damping_coefficient(RID p_body) const 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_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override; + virtual real_t soft_body_get_drag_coefficient(RID p_body) const override; - virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const; + 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) 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) const 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, real_t p_value) override; + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; - virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); - 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 Transform3D &p_hinge_A, RID p_body_B, const Transform3D &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, real_t p_value) override; + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; - virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); - 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 Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &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, real_t p_value) override; + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + virtual RID joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &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, real_t p_value) override; + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); - - 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 RID joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) 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_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override; + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; - virtual void generic_6dof_joint_set_precision(RID p_joint, int precision); - virtual int generic_6dof_joint_get_precision(RID p_joint); + 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; /* 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; } @@ -394,21 +379,20 @@ 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(real_t p_deltaTime) 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/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp index c9493d8892..01461767bd 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -59,7 +59,7 @@ void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) { INVERT_B_TO_G(inVal[2], outVal[2]); } -void B_TO_G(btTransform const &inVal, Transform &outVal) { +void B_TO_G(btTransform const &inVal, Transform3D &outVal) { B_TO_G(inVal.getBasis(), outVal.basis); B_TO_G(inVal.getOrigin(), outVal.origin); } @@ -89,18 +89,67 @@ void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) { INVERT_G_TO_B(inVal[2], outVal[2]); } -void G_TO_B(Transform const &inVal, btTransform &outVal) { +void G_TO_B(Transform3D const &inVal, btTransform &outVal) { G_TO_B(inVal.basis, outVal.getBasis()); G_TO_B(inVal.origin, outVal.getOrigin()); } void UNSCALE_BT_BASIS(btTransform &scaledBasis) { - btMatrix3x3 &m(scaledBasis.getBasis()); - btVector3 column0(m[0][0], m[1][0], m[2][0]); - btVector3 column1(m[0][1], m[1][1], m[2][1]); - btVector3 column2(m[0][2], m[1][2], m[2][2]); + btMatrix3x3 &basis(scaledBasis.getBasis()); + btVector3 column0 = basis.getColumn(0); + btVector3 column1 = basis.getColumn(1); + btVector3 column2 = basis.getColumn(2); + + // Check for zero scaling. + if (column0.fuzzyZero()) { + if (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // All dimensions are fuzzy zero. Create a default basis. + column0 = btVector3(1, 0, 0); + column1 = btVector3(0, 1, 0); + column2 = btVector3(0, 0, 1); + } else { // Column 2 scale not fuzzy zero. + // Create two vectors orthogonal to row 2. + // Ensure that a default basis is created if row 2 = <0, 0, 1> + column1 = btVector3(0, column2[2], -column2[1]); + column0 = column1.cross(column2); + } + } else { // Column 1 scale not fuzzy zero. + if (column2.fuzzyZero()) { + // Create two vectors orthogonal to column 1. + // Ensure that a default basis is created if column 1 = <0, 1, 0> + column0 = btVector3(column1[1], -column1[0], 0); + column2 = column0.cross(column1); + } else { // Column 1 and column 2 scales not fuzzy zero. + // Create column 0 orthogonal to column 1 and column 2. + column0 = column1.cross(column2); + } + } + } else { // Column 0 scale not fuzzy zero. + if (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // Create two vectors orthogonal to column 0. + // Ensure that a default basis is created if column 0 = <1, 0, 0> + column2 = btVector3(-column0[2], 0, column0[0]); + column1 = column2.cross(column0); + } else { // Column 0 and column 2 scales not fuzzy zero. + // Create column 1 orthogonal to column 0 and column 2. + column1 = column2.cross(column0); + } + } else { // Column 0 and column 1 scales not fuzzy zero. + if (column2.fuzzyZero()) { + // Create column 2 orthogonal to column 0 and column 1. + column2 = column0.cross(column1); + } + } + } + + // Normalize column0.normalize(); column1.normalize(); column2.normalize(); - m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]); + + basis.setValue(column0[0], column1[0], column2[0], + column0[1], column1[1], column2[1], + column0[2], column1[2], column2[2]); } diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h index fef07c55b7..e184fe1769 100644 --- a/modules/bullet/bullet_types_converter.h +++ b/modules/bullet/bullet_types_converter.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define BULLET_TYPES_CONVERTER_H #include "core/math/basis.h" -#include "core/math/transform.h" +#include "core/math/transform_3d.h" #include "core/math/vector3.h" #include "core/typedefs.h" @@ -49,14 +49,14 @@ extern void B_TO_G(btVector3 const &inVal, Vector3 &outVal); extern void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal); extern void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); extern void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); -extern void B_TO_G(btTransform const &inVal, Transform &outVal); +extern void B_TO_G(btTransform const &inVal, Transform3D &outVal); // Godot TO Bullet extern void G_TO_B(Vector3 const &inVal, btVector3 &outVal); extern void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal); extern void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); extern void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); -extern void G_TO_B(Transform const &inVal, btTransform &outVal); +extern void G_TO_B(Transform3D const &inVal, btTransform &outVal); extern void UNSCALE_BT_BASIS(btTransform &scaledBasis); #endif diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h index a5e33d9829..a7c0fafbea 100644 --- a/modules/bullet/bullet_utilities.h +++ b/modules/bullet/bullet_utilities.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 1b72c2f577..c45bd5bbc0 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -49,7 +49,7 @@ CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} -void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) { +void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform3D &p_transform) { G_TO_B(p_transform.get_basis().get_scale_abs(), scale); G_TO_B(p_transform, transform); UNSCALE_BT_BASIS(transform); @@ -80,27 +80,17 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { if (!bt_shape) { - if (active) + if (active) { bt_shape = shape->create_bt_shape(scale * body_scale); - else + } else { bt_shape = ShapeBullet::create_shape_empty(); + } } } CollisionObjectBullet::CollisionObjectBullet(Type p_type) : RIDBullet(), - type(p_type), - instance_id(ObjectID()), - collisionLayer(0), - collisionMask(0), - collisionsEnabled(true), - m_isStatic(false), - ray_pickable(false), - bt_collision_object(nullptr), - body_scale(1., 1., 1.), - force_shape_reset(false), - space(nullptr), - isTransformChanged(false) {} + type(p_type) {} CollisionObjectBullet::~CollisionObjectBullet() { // Remove all overlapping, notify is not required since godot take care of it @@ -147,26 +137,35 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { exceptions.insert(p_ignoreCollisionObject->get_self()); - if (!bt_collision_object) + if (!bt_collision_object) { return; + } bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true); - if (space) + if (space) { space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); + } } void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { exceptions.erase(p_ignoreCollisionObject->get_self()); + if (!bt_collision_object) { + return; + } bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false); - if (space) + if (space) { space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); + } } bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const { - return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object); + return exceptions.has(p_otherCollisionObject->get_self()); } void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { collisionsEnabled = p_enabled; + if (!bt_collision_object) { + return; + } if (collisionsEnabled) { bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE)); } else { @@ -194,8 +193,7 @@ int CollisionObjectBullet::get_godot_object_flags() const { return bt_collision_object->getUserIndex2(); } -void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { - +void CollisionObjectBullet::set_transform(const Transform3D &p_global_transform) { set_body_scale(p_global_transform.basis.get_scale_abs()); btTransform bt_transform; @@ -205,8 +203,8 @@ void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { set_transform__bullet(bt_transform); } -Transform CollisionObjectBullet::get_transform() const { - Transform t; +Transform3D CollisionObjectBullet::get_transform() const { + Transform3D t; B_TO_G(get_transform__bullet(), t); t.basis.scale(body_scale); return t; @@ -225,11 +223,6 @@ void CollisionObjectBullet::notify_transform_changed() { isTransformChanged = true; } -RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) : - CollisionObjectBullet(p_type), - mainShape(nullptr) { -} - RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { remove_all_shapes(true, true); if (mainShape && mainShape->isCompound()) { @@ -237,7 +230,7 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { } } -void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) { +void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_disabled) { shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled)); p_shape->add_owner(this); reload_shapes(); @@ -266,8 +259,9 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const { int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const { const int size = shapes.size(); for (int i = 0; i < size; ++i) { - if (shapes[i].shape == p_shape) + if (shapes[i].shape == p_shape) { return i; + } } return -1; } @@ -297,11 +291,12 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod internal_shape_destroy(i, p_permanentlyFromThisBody); } shapes.clear(); - if (!p_force_not_reload) + if (!p_force_not_reload) { reload_shapes(); + } } -void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { +void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform3D &p_transform) { ERR_FAIL_INDEX(p_index, get_shape_count()); shapes.write[p_index].set_transform(p_transform); @@ -312,15 +307,16 @@ const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_inde return shapes[p_index].transform; } -Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const { - Transform trs; +Transform3D RigidCollisionObjectBullet::get_shape_transform(int p_index) const { + Transform3D trs; B_TO_G(shapes[p_index].transform, trs); return trs; } void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { - if (shapes[p_index].active != p_disabled) + if (shapes[p_index].active != p_disabled) { return; + } shapes.write[p_index].active = !p_disabled; shape_changed(p_index); } @@ -339,7 +335,6 @@ void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { } void RigidCollisionObjectBullet::reload_shapes() { - if (mainShape && mainShape->isCompound()) { // Destroy compound bulletdelete(mainShape); diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index 25176458a7..944ab89b87 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,10 +31,10 @@ #ifndef COLLISION_OBJECT_BULLET_H #define COLLISION_OBJECT_BULLET_H -#include "core/math/transform.h" +#include "core/math/transform_3d.h" #include "core/math/vector3.h" -#include "core/object.h" -#include "core/vset.h" +#include "core/object/class_db.h" +#include "core/templates/vset.h" #include "shape_owner_bullet.h" #include <LinearMath/btTransform.h> @@ -69,27 +69,22 @@ public: }; struct ShapeWrapper { - ShapeBullet *shape; - btCollisionShape *bt_shape; + ShapeBullet *shape = nullptr; + btCollisionShape *bt_shape = nullptr; btTransform transform; btVector3 scale; - bool active; + bool active = true; - ShapeWrapper() : - shape(nullptr), - bt_shape(nullptr), - active(true) {} + ShapeWrapper() {} ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) : shape(p_shape), - bt_shape(nullptr), active(p_active) { set_transform(p_transform); } - ShapeWrapper(ShapeBullet *p_shape, const Transform &p_transform, bool p_active) : + ShapeWrapper(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_active) : shape(p_shape), - bt_shape(nullptr), active(p_active) { set_transform(p_transform); } @@ -107,7 +102,7 @@ public: active = otherShape.active; } - void set_transform(const Transform &p_transform); + void set_transform(const Transform3D &p_transform); void set_transform(const btTransform &p_transform); btTransform get_adjusted_transform() const; @@ -115,17 +110,17 @@ public: }; protected: - Type type; + Type type = TYPE_AREA; ObjectID instance_id; - uint32_t collisionLayer; - uint32_t collisionMask; - bool collisionsEnabled; - bool m_isStatic; - bool ray_pickable; - btCollisionObject *bt_collision_object; - Vector3 body_scale; - bool force_shape_reset; - SpaceBullet *space; + uint32_t collisionLayer = 0; + uint32_t collisionMask = 0; + bool collisionsEnabled = true; + bool m_isStatic = false; + bool ray_pickable = false; + btCollisionObject *bt_collision_object = nullptr; + Vector3 body_scale = Vector3(1, 1, 1); + bool force_shape_reset = false; + SpaceBullet *space = nullptr; VSet<RID> exceptions; @@ -133,7 +128,7 @@ protected: /// 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 Vector<AreaBullet *> areasOverlapped; - bool isTransformChanged; + bool isTransformChanged = false; public: CollisionObjectBullet(Type p_type); @@ -207,8 +202,8 @@ public: void set_godot_object_flags(int flags); int get_godot_object_flags() const; - void set_transform(const Transform &p_global_transform); - Transform get_transform() const; + void set_transform(const Transform3D &p_global_transform); + Transform3D get_transform() const; virtual void set_transform__bullet(const btTransform &p_global_transform); virtual const btTransform &get_transform__bullet() const; @@ -218,18 +213,19 @@ public: class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet { protected: - btCollisionShape *mainShape; + btCollisionShape *mainShape = nullptr; Vector<ShapeWrapper> shapes; public: - RigidCollisionObjectBullet(Type p_type); + RigidCollisionObjectBullet(Type p_type) : + CollisionObjectBullet(p_type) {} ~RigidCollisionObjectBullet(); _FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; } _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; } - void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); + void add_shape(ShapeBullet *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false); void set_shape(int p_index, ShapeBullet *p_shape); int get_shape_count() const; @@ -242,10 +238,10 @@ public: void remove_shape_full(int p_index); void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false); - void set_shape_transform(int p_index, const Transform &p_transform); + void set_shape_transform(int p_index, const Transform3D &p_transform); const btTransform &get_bt_shape_transform(int p_index) const; - Transform get_shape_transform(int p_index) const; + Transform3D get_shape_transform(int p_index) const; void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index aac51034b8..34516d8b3b 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -40,18 +40,16 @@ @author AndreaCatania */ -ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : +ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : JointBullet() { - - Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - - Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index ed4baa9d1b..7e51f7d644 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -43,7 +43,7 @@ class ConeTwistJointBullet : public JointBullet { class btConeTwistConstraint *coneConstraint; public: - ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame); + ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_CONE_TWIST; } diff --git a/modules/bullet/config.py b/modules/bullet/config.py index d22f9454ed..83605f1f9b 100644 --- a/modules/bullet/config.py +++ b/modules/bullet/config.py @@ -1,5 +1,7 @@ def can_build(env, platform): - return True + # API Changed and bullet is disabled at the moment + return False + # Later change to return not env["disable_3d"] def configure(env): diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index 469b58521e..e610727685 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -37,10 +37,7 @@ @author AndreaCatania */ -ConstraintBullet::ConstraintBullet() : - space(nullptr), - constraint(nullptr), - disabled_collisions_between_bodies(true) {} +ConstraintBullet::ConstraintBullet() {} void ConstraintBullet::setup(btTypedConstraint *p_constraint) { constraint = p_constraint; diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 1946807bad..6afd8c9b52 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -45,11 +45,10 @@ class SpaceBullet; class btTypedConstraint; class ConstraintBullet : public RIDBullet { - protected: - SpaceBullet *space; - btTypedConstraint *constraint; - bool disabled_collisions_between_bodies; + SpaceBullet *space = nullptr; + btTypedConstraint *constraint = nullptr; + bool disabled_collisions_between_bodies = true; public: ConstraintBullet(); diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 638944df76..7e04d57b9d 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -40,16 +40,15 @@ @author AndreaCatania */ -Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : +Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : JointBullet() { - for (int i = 0; i < 3; i++) { for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) { flags[i][j] = false; } } - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -57,7 +56,7 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); @@ -72,30 +71,30 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu setup(sixDOFConstraint); } -Transform Generic6DOFJointBullet::getFrameOffsetA() const { +Transform3D Generic6DOFJointBullet::getFrameOffsetA() const { btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetB() const { +Transform3D Generic6DOFJointBullet::getFrameOffsetB() const { btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetA() { +Transform3D Generic6DOFJointBullet::getFrameOffsetA() { btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetB() { +Transform3D Generic6DOFJointBullet::getFrameOffsetB() { btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } @@ -274,11 +273,3 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6D ERR_FAIL_INDEX_V(p_axis, 3, false); return flags[p_axis][p_flag]; } - -void Generic6DOFJointBullet::set_precision(int p_precision) { - sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision)); -} - -int Generic6DOFJointBullet::get_precision() const { - return sixDOFConstraint->getOverrideNumSolverIterations(); -} diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index 316708bb11..00567e3085 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -48,14 +48,14 @@ class Generic6DOFJointBullet : public JointBullet { bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX]; public: - Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); + Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; } - Transform getFrameOffsetA() const; - Transform getFrameOffsetB() const; - Transform getFrameOffsetA(); - Transform getFrameOffsetB(); + Transform3D getFrameOffsetA() const; + Transform3D getFrameOffsetB() const; + Transform3D getFrameOffsetA(); + Transform3D getFrameOffsetB(); void set_linear_lower_limit(const Vector3 &linearLower); void set_linear_upper_limit(const Vector3 &linearUpper); @@ -68,9 +68,6 @@ public: void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value); bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const; - - void set_precision(int p_precision); - int get_precision() const; }; #endif diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index 8e29845a36..94f150b712 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -41,7 +41,6 @@ GodotCollisionConfiguration::GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) : btDefaultCollisionConfiguration(constructionInfo) { - void *mem = nullptr; mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); @@ -60,44 +59,33 @@ GodotCollisionConfiguration::~GodotCollisionConfiguration() { } btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) { - if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - // This collision is not supported return m_emptyCreateFunc; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { - return m_rayWorldCF; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - return m_swappedRayWorldCF; } else { - return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1); } } btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) { - if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - // This collision is not supported return m_emptyCreateFunc; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { - return m_rayWorldCF; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - return m_swappedRayWorldCF; } else { - return btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); } } GodotSoftCollisionConfiguration::GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) : btSoftBodyRigidBodyCollisionConfiguration(constructionInfo) { - void *mem = nullptr; mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); @@ -116,37 +104,27 @@ GodotSoftCollisionConfiguration::~GodotSoftCollisionConfiguration() { } btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) { - if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - // This collision is not supported return m_emptyCreateFunc; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { - return m_rayWorldCF; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - return m_swappedRayWorldCF; } else { - return btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1); } } btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) { - if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - // This collision is not supported return m_emptyCreateFunc; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { - return m_rayWorldCF; } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { - return m_swappedRayWorldCF; } else { - return btSoftBodyRigidBodyCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); } } diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h index ffad1b1bda..8ed55cb1da 100644 --- a/modules/bullet/godot_collision_configuration.h +++ b/modules/bullet/godot_collision_configuration.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp index d919c85469..423166c408 100644 --- a/modules/bullet/godot_collision_dispatcher.cpp +++ b/modules/bullet/godot_collision_dispatcher.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -43,7 +43,7 @@ GodotCollisionDispatcher::GodotCollisionDispatcher(btCollisionConfiguration *col bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, const btCollisionObject *body1) { if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { - // Avoide area narrow phase + // Avoid area narrow phase return false; } return btCollisionDispatcher::needsCollision(body0, body1); @@ -51,7 +51,7 @@ bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, co bool GodotCollisionDispatcher::needsResponse(const btCollisionObject *body0, const btCollisionObject *body1) { if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { - // Avoide area narrow phase + // Avoid area narrow phase return false; } return btCollisionDispatcher::needsResponse(body0, body1); diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h index 5a96268ee9..77472a9432 100644 --- a/modules/bullet/godot_collision_dispatcher.h +++ b/modules/bullet/godot_collision_dispatcher.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef GODOT_COLLISION_DISPATCHER_H #define GODOT_COLLISION_DISPATCHER_H -#include "core/int_types.h" +#include <cstdint> #include <btBulletDynamicsCommon.h> diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h index e2c1b10e94..ca17349130 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -46,13 +46,12 @@ class RigidBodyBullet; /// DOC: /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F class GodotMotionState : public btMotionState { - /// This data is used to store the new world position for kinematic body btTransform bodyKinematicWorldTransf; /// This data is used to store last world position btTransform bodyCurrentWorldTransform; - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; public: GodotMotionState(RigidBodyBullet *p_owner) : diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index 2ef277cf5b..a8291d4ab4 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -52,7 +52,6 @@ GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *wo btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap), m_world(world), m_manifoldPtr(mf), - m_ownManifold(false), m_isSwapped(isSwapped) {} GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { @@ -62,7 +61,6 @@ GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { } void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { - if (!m_manifoldPtr) { if (m_isSwapped) { m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject()); @@ -80,13 +78,11 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo const btCollisionObjectWrapper *other_co_wrapper; if (m_isSwapped) { - ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape()); ray_transform = body1Wrap->getWorldTransform(); other_co_wrapper = body0Wrap; } else { - ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape()); ray_transform = body0Wrap->getWorldTransform(); @@ -100,15 +96,15 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); if (btResult.hasHit()) { - btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); - if (depth > -RAY_PENETRATION_DEPTH_EPSILON) + if (depth > -RAY_PENETRATION_DEPTH_EPSILON) { depth = 0.0; + } - if (ray_shape->getSlipsOnSlope()) + if (ray_shape->getSlipsOnSlope()) { resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth); - else { + } else { resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth); } } diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index 2cdea6c133..25798aecb4 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,11 +42,10 @@ class btDiscreteDynamicsWorld; class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { - const btDiscreteDynamicsWorld *m_world; btPersistentManifold *m_manifoldPtr; - bool m_ownManifold; - bool m_isSwapped; + bool m_ownManifold = false; + bool m_isSwapped = false; public: GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); @@ -57,11 +56,11 @@ public: virtual void getAllContactManifolds(btManifoldArray &manifoldArray) { ///should we use m_ownManifold to avoid adding duplicates? - if (m_manifoldPtr && m_ownManifold) + if (m_manifoldPtr && m_ownManifold) { manifoldArray.push_back(m_manifoldPtr); + } } struct CreateFunc : public btCollisionAlgorithmCreateFunc { - const btDiscreteDynamicsWorld *m_world; CreateFunc(const btDiscreteDynamicsWorld *world); @@ -72,7 +71,6 @@ public: }; struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc { - const btDiscreteDynamicsWorld *m_world; SwappedCreateFunc(const btDiscreteDynamicsWorld *world); diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index ad20a7e451..1f962772e7 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -47,26 +47,23 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp return true; } -bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) { - return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask; -} - bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const { - return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask); + return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); } 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 (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { - if (!collide_with_areas) + if (!collide_with_areas) { return false; + } } else { - if (!collide_with_bodies) + if (!collide_with_bodies) { return false; + } } if (m_pickRay && !gObj->is_ray_pickable()) { @@ -84,11 +81,11 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co } bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - if (count >= m_resultMax) + if (count >= m_resultMax) { return false; + } - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (m_exclude->has(gObj->get_self())) { @@ -102,14 +99,15 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con } btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { - if (count >= m_resultMax) + if (count >= m_resultMax) { return 1; // not used by bullet + } CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer()); PhysicsDirectSpaceState3D::ShapeResult &result = m_results[count]; - result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID result.rid = gObj->get_self(); result.collider_id = gObj->get_instance_id(); result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id); @@ -119,23 +117,28 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo } bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (gObj == m_self_object) { return false; } else { - // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite - if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) + if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) { return false; + } - if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) + if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) { return false; + } - if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) + if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) { return false; + } + + if (m_exclude->has(gObj->get_self())) { + return false; + } } return true; } else { @@ -144,17 +147,18 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox } bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { - if (!collide_with_areas) + if (!collide_with_areas) { return false; + } } else { - if (!collide_with_bodies) + if (!collide_with_bodies) { return false; + } } if (m_exclude->has(gObj->get_self())) { @@ -167,28 +171,31 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) } btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { - if (convexResult.m_localShapeInfo) - m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID - else + if (convexResult.m_localShapeInfo) { + m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID + } else { m_shapeId = 0; + } return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); } bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - if (m_count >= m_resultMax) + if (m_count >= m_resultMax) { return false; + } - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { - if (!collide_with_areas) + if (!collide_with_areas) { return false; + } } else { - if (!collide_with_bodies) + if (!collide_with_bodies) { return false; + } } if (m_exclude->has(gObj->get_self())) { @@ -201,12 +208,11 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co } btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { - - if (m_count >= m_resultMax) + if (m_count >= m_resultMax) { return cp.getDistance(); + } if (cp.getDistance() <= 0) { - PhysicsDirectSpaceState3D::ShapeResult &result = m_results[m_count]; // Penetrated @@ -229,20 +235,22 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con } bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - if (m_count >= m_resultMax) + if (m_count >= m_resultMax) { return false; + } - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { - if (!collide_with_areas) + if (!collide_with_areas) { return false; + } } else { - if (!collide_with_bodies) + if (!collide_with_bodies) { return false; + } } if (m_exclude->has(gObj->get_self())) { @@ -255,8 +263,9 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr } btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { - if (m_count >= m_resultMax) + if (m_count >= m_resultMax) { return 1; // not used by bullet + } if (m_self_object == colObj0Wrap->getCollisionObject()) { B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact @@ -272,17 +281,18 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint } bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { - const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); - if (needs) { + if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { - if (!collide_with_areas) + if (!collide_with_areas) { return false; + } } else { - if (!collide_with_bodies) + if (!collide_with_bodies) { return false; + } } if (m_exclude->has(gObj->get_self())) { @@ -295,7 +305,6 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy } btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { - if (cp.getDistance() <= m_min_distance) { m_min_distance = cp.getDistance(); @@ -325,7 +334,6 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp } void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - if (m_penetration_distance > depth) { // Has penetration? const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 7e74a2b22e..96a649d77a 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -47,8 +47,6 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp /// This class is required to implement custom collision behaviour in the broadphase struct GodotFilterCallback : public btOverlapFilterCallback { - static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask); - // return true when pairs need collision virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const; }; @@ -56,28 +54,27 @@ struct GodotFilterCallback : public btOverlapFilterCallback { /// It performs an additional check allow exclusions. struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback { const Set<RID> *m_exclude; - bool m_pickRay; - int m_shapeId; + bool m_pickRay = false; + int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; public: GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), - m_pickRay(false), - m_shapeId(0), collide_with_bodies(p_collide_with_bodies), collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) { - if (rayResult.m_localShapeInfo) + if (rayResult.m_localShapeInfo) { m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID - else + } else { m_shapeId = 0; + } return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace); } }; @@ -85,16 +82,15 @@ public: // store all colliding object struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback { public: - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; - int count; + int count = 0; GodotAllConvexResultCallback(PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) : m_results(p_results), m_resultMax(p_resultMax), - m_exclude(p_exclude), - count(0) {} + m_exclude(p_exclude) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -104,11 +100,13 @@ public: struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { public: const RigidBodyBullet *m_self_object; + const Set<RID> *m_exclude; const bool m_infinite_inertia; - GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia) : + GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), + m_exclude(p_exclude), m_infinite_inertia(p_infinite_inertia) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -117,15 +115,14 @@ public: struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { public: const Set<RID> *m_exclude; - int m_shapeId; + int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude), - m_shapeId(0), collide_with_bodies(p_collide_with_bodies), collide_with_areas(p_collide_with_areas) {} @@ -137,20 +134,19 @@ public: struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; - int m_count; + int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), m_results(p_results), m_resultMax(p_resultMax), m_exclude(p_exclude), - m_count(0), collide_with_bodies(p_collide_with_bodies), collide_with_areas(p_collide_with_areas) {} @@ -163,20 +159,19 @@ public: struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - Vector3 *m_results; - int m_resultMax; + Vector3 *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; - int m_count; + int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), m_results(p_results), m_resultMax(p_resultMax), m_exclude(p_exclude), - m_count(0), collide_with_bodies(p_collide_with_bodies), collide_with_areas(p_collide_with_areas) {} @@ -188,21 +183,19 @@ public: struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeRestInfo *m_result; + PhysicsDirectSpaceState3D::ShapeRestInfo *m_result = nullptr; const Set<RID> *m_exclude; - bool m_collided; - real_t m_min_distance; - const btCollisionObject *m_rest_info_collision_object; + bool m_collided = false; + real_t m_min_distance = 0.0; + const btCollisionObject *m_rest_info_collision_object = nullptr; btVector3 m_rest_info_bt_point; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), - m_collided(false), - m_min_distance(0), collide_with_bodies(p_collide_with_bodies), collide_with_areas(p_collide_with_areas) {} @@ -214,13 +207,11 @@ public: struct GodotDeepPenetrationContactResultCallback : public btManifoldResult { btVector3 m_pointNormalWorld; btVector3 m_pointWorld; - btScalar m_penetration_distance; - int m_other_compound_shape_index; + btScalar m_penetration_distance = 0; + int m_other_compound_shape_index = 0; GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) : - btManifoldResult(body0Wrap, body1Wrap), - m_penetration_distance(0), - m_other_compound_shape_index(0) {} + btManifoldResult(body0Wrap, body1Wrap) {} void reset() { m_penetration_distance = 0; diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 4bea9f87c0..b5fe50cf5f 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -40,18 +40,16 @@ @author AndreaCatania */ -HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) : +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB) : JointBullet() { - - Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - - Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; @@ -59,7 +57,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { - hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA)); } @@ -68,7 +65,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) : JointBullet() { - btVector3 btPivotA; btVector3 btAxisA; G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA); @@ -82,7 +78,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB)); } else { - hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA)); } @@ -162,7 +157,8 @@ void HingeJointBullet::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_v case PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR: hingeConstraint->enableMotor(p_value); break; - case PhysicsServer3D::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning + case PhysicsServer3D::HINGE_JOINT_FLAG_MAX: + break; // Can't happen, but silences warning } } diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h index 120c40e5c0..dd0f69ba68 100644 --- a/modules/bullet/hinge_joint_bullet.h +++ b/modules/bullet/hinge_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -41,7 +41,7 @@ class HingeJointBullet : public JointBullet { class btHingeConstraint *hingeConstraint; public: - HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB); + HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB); HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_HINGE; } diff --git a/modules/bullet/joint_bullet.cpp b/modules/bullet/joint_bullet.cpp index 6257ff0058..ac371658f5 100644 --- a/modules/bullet/joint_bullet.cpp +++ b/modules/bullet/joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h index 9cb8aab276..5bb8b50961 100644 --- a/modules/bullet/joint_bullet.h +++ b/modules/bullet/joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,7 +42,6 @@ class RigidBodyBullet; class btTypedConstraint; class JointBullet : public ConstraintBullet { - public: JointBullet(); virtual ~JointBullet(); diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 68b40d7405..8e8ff57f11 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,7 +42,6 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) : JointBullet() { if (p_body_b) { - btVector3 btPivotA; btVector3 btPivotB; G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA); diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h index e7d05f34d4..6fbb6f7e02 100644 --- a/modules/bullet/pin_joint_bullet.h +++ b/modules/bullet/pin_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index 009d0dff63..b5ad5749a6 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #include "register_types.h" #include "bullet_physics_server.h" -#include "core/class_db.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" +#include "core/object/class_db.h" /** @author AndreaCatania diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h index 5a01a1422e..e405996705 100644 --- a/modules/bullet/register_types.h +++ b/modules/bullet/register_types.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h index 3551ca05f9..face6b4861 100644 --- a/modules/bullet/rid_bullet.h +++ b/modules/bullet/rid_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef RID_BULLET_H #define RID_BULLET_H -#include "core/rid.h" +#include "core/templates/rid.h" /** @author AndreaCatania @@ -41,7 +41,7 @@ class BulletPhysicsServer3D; class RIDBullet { RID self; - BulletPhysicsServer3D *physicsServer; + BulletPhysicsServer3D *physicsServer = nullptr; public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index a4f9affa95..0d2cd1f5a0 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -56,11 +56,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const { return gVec; } -float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { return body->btBody->getAngularDamping(); } -float BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { return body->btBody->getLinearDamping(); } @@ -74,7 +74,7 @@ Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const { return Basis(); } -float BulletPhysicsDirectBodyState3D::get_inverse_mass() const { +real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const { return body->btBody->getInvMass(); } @@ -106,20 +106,30 @@ Vector3 BulletPhysicsDirectBodyState3D::get_angular_velocity() const { return body->get_angular_velocity(); } -void BulletPhysicsDirectBodyState3D::set_transform(const Transform &p_transform) { +void BulletPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) { body->set_transform(p_transform); } -Transform BulletPhysicsDirectBodyState3D::get_transform() const { +Transform3D BulletPhysicsDirectBodyState3D::get_transform() const { return body->get_transform(); } +Vector3 BulletPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const { + btVector3 local_position; + G_TO_B(p_position, local_position); + + Vector3 velocity; + B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity); + + return velocity; +} + 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 +140,8 @@ 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) { @@ -158,7 +168,7 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_i return body->collisions[p_contact_idx].hitNormal; } -float BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { +real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { return body->collisions[p_contact_idx].appliedImpulse; } @@ -256,26 +266,7 @@ void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) { } RigidBodyBullet::RigidBodyBullet() : - RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY), - kinematic_utilities(nullptr), - locked_axis(0), - mass(1), - gravity_scale(1), - linearDamp(0), - angularDamp(0), - can_sleep(true), - omit_forces_integration(false), - can_integrate_forces(false), - maxCollisionsDetection(0), - collisionsCount(0), - prev_collision_count(0), - maxAreasWhereIam(10), - areaWhereIamCount(0), - countGravityPointSpaces(0), - isScratchedSpaceOverrideModificator(false), - previousActiveState(true), - force_integration_callback(nullptr) { - + RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY) { godotMotionState = bulletnew(GodotMotionState(this)); // Initial properties @@ -283,10 +274,11 @@ RigidBodyBullet::RigidBodyBullet() : btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, nullptr, localInertia); btBody = bulletnew(btRigidBody(cInfo)); + btBody->setFriction(1.0); reload_shapes(); setupBulletCollisionObject(btBody); - set_mode(PhysicsServer3D::BODY_MODE_RIGID); + set_mode(PhysicsServer3D::BODY_MODE_DYNAMIC); reload_axis_lock(); areasWhereIam.resize(maxAreasWhereIam); @@ -302,8 +294,9 @@ RigidBodyBullet::RigidBodyBullet() : RigidBodyBullet::~RigidBodyBullet() { bulletdelete(godotMotionState); - if (force_integration_callback) + if (force_integration_callback) { memdelete(force_integration_callback); + } destroy_kinematic_utilities(); } @@ -328,8 +321,9 @@ void RigidBodyBullet::main_shape_changed() { void RigidBodyBullet::reload_body() { if (space) { space->remove_rigid_body(this); - if (get_main_shape()) + if (get_main_shape()) { space->add_rigid_body(this); + } } } @@ -337,10 +331,9 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { can_integrate_forces = false; - - // Remove all eventual constraints - assert_no_constraints(); - + isScratchedSpaceOverrideModificator = false; + // Remove any constraints + space->remove_rigid_body_constraints(this); // Remove this object form the physics world space->remove_rigid_body(this); } @@ -355,24 +348,25 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { void RigidBodyBullet::dispatch_callbacks() { /// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) { - - if (omit_forces_integration) + if (omit_forces_integration) { btBody->clearForces(); + } BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this); Variant variantBodyDirect = bodyDirect; - Object *obj = ObjectDB::get_instance(force_integration_callback->id); + Object *obj = force_integration_callback->callable.get_object(); if (!obj) { // Remove integration callback - set_force_integration_callback(ObjectID(), StringName()); + set_force_integration_callback(Callable()); } else { const Variant *vp[2] = { &variantBodyDirect, &force_integration_callback->udata }; Callable::CallError responseCallError; int argc = (force_integration_callback->udata.get_type() == Variant::NIL) ? 1 : 2; - obj->call(force_integration_callback->method, vp, argc, responseCallError); + Variant rv; + force_integration_callback->callable.call(vp, argc, rv, responseCallError); } } @@ -388,17 +382,15 @@ void RigidBodyBullet::dispatch_callbacks() { previousActiveState = btBody->isActive(); } -void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) { - +void RigidBodyBullet::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { if (force_integration_callback) { memdelete(force_integration_callback); force_integration_callback = nullptr; } - if (p_id.is_valid()) { + if (p_callable.get_object()) { force_integration_callback = memnew(ForceIntegrationCallback); - force_integration_callback->id = p_id; - force_integration_callback->method = p_method; + force_integration_callback->callable = p_callable; force_integration_callback->udata = p_udata; } } @@ -416,7 +408,6 @@ void RigidBodyBullet::on_collision_filters_change() { } void RigidBodyBullet::on_collision_checker_start() { - prev_collision_count = collisionsCount; collisionsCount = 0; @@ -431,8 +422,7 @@ void RigidBodyBullet::on_collision_checker_end() { isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject(); } -bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { - +bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { if (collisionsCount >= maxCollisionsDetection) { return false; } @@ -454,23 +444,13 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { for (int i = prev_collision_count - 1; 0 <= i; --i) { - if ((*prev_collision_traces)[i] == p_other_object) + if ((*prev_collision_traces)[i] == p_other_object) { return true; + } } return false; } -void RigidBodyBullet::assert_no_constraints() { - if (btBody->getNumConstraintRefs()) { - WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); - } - /*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) { if (p_active) { btBody->activate(); @@ -503,15 +483,18 @@ void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p } case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: linearDamp = p_value; - btBody->setDamping(linearDamp, angularDamp); + // Mark for updating total linear damping. + scratch_space_override_modificator(); break; case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: angularDamp = p_value; - btBody->setDamping(linearDamp, angularDamp); + // Mark for updating total angular damping. + scratch_space_override_modificator(); break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: gravity_scale = p_value; - /// The Bullet gravity will be is set by reload_space_override_modificator + // The Bullet gravity will be is set by reload_space_override_modificator. + // Mark for updating total gravity scale. scratch_space_override_modificator(); break; default: @@ -542,7 +525,7 @@ real_t RigidBodyBullet::get_param(PhysicsServer3D::BodyParameter p_param) const } void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) { - // This is necessary to block force_integration untile next move + // This is necessary to block force_integration until next move can_integrate_forces = false; destroy_kinematic_utilities(); // The mode change is relevant to its mass @@ -558,14 +541,14 @@ void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) { reload_axis_lock(); _internal_set_mass(0); break; - case PhysicsServer3D::BODY_MODE_RIGID: - mode = PhysicsServer3D::BODY_MODE_RIGID; + case PhysicsServer3D::BODY_MODE_DYNAMIC: + mode = PhysicsServer3D::BODY_MODE_DYNAMIC; reload_axis_lock(); _internal_set_mass(0 == mass ? 1 : mass); scratch_space_override_modificator(); break; - case PhysicsServer3D::BODY_MODE_CHARACTER: - mode = PhysicsServer3D::BODY_MODE_CHARACTER; + case PhysicsServer3D::MODE_DYNAMIC_LOCKED: + mode = PhysicsServer3D::MODE_DYNAMIC_LOCKED; reload_axis_lock(); _internal_set_mass(0 == mass ? 1 : mass); scratch_space_override_modificator(); @@ -575,12 +558,12 @@ void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) { btBody->setAngularVelocity(btVector3(0, 0, 0)); btBody->setLinearVelocity(btVector3(0, 0, 0)); } + PhysicsServer3D::BodyMode RigidBodyBullet::get_mode() const { return mode; } void RigidBodyBullet::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { - switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: set_transform(p_variant); @@ -625,62 +608,69 @@ 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); - if (Vector3() != p_impulse) + 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); - if (Vector3() != p_impulse) +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) { btVector3 btImp; G_TO_B(p_impulse, btImp); - if (Vector3() != p_impulse) + if (Vector3() != p_impulse) { btBody->activate(); + } 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); - if (Vector3() != p_force) + 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) { btVector3 btForce; G_TO_B(p_force, btForce); - if (Vector3() != p_force) + if (Vector3() != p_force) { btBody->activate(); + } btBody->applyCentralForce(btForce); } void RigidBodyBullet::apply_torque(const Vector3 &p_torque) { btVector3 btTorq; G_TO_B(p_torque, btTorq); - if (Vector3() != p_torque) + if (Vector3() != p_torque) { btBody->activate(); + } btBody->applyTorque(btTorq); } void RigidBodyBullet::set_applied_force(const Vector3 &p_force) { btVector3 btVec = btBody->getTotalTorque(); - if (Vector3() != p_force) + if (Vector3() != p_force) { btBody->activate(); + } btBody->clearForces(); btBody->applyTorque(btVec); @@ -698,8 +688,9 @@ Vector3 RigidBodyBullet::get_applied_force() const { void RigidBodyBullet::set_applied_torque(const Vector3 &p_torque) { btVector3 btVec = btBody->getTotalForce(); - if (Vector3() != p_torque) + if (Vector3() != p_torque) { btBody->activate(); + } btBody->clearForces(); btBody->applyCentralForce(btVec); @@ -729,13 +720,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { } void RigidBodyBullet::reload_axis_lock() { - - btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); - if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) { + btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); + if (PhysicsServer3D::MODE_DYNAMIC_LOCKED == mode) { /// When character angular is always locked btBody->setAngularFactor(btVector3(0., 0., 0.)); } else { - btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); + btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); } } @@ -745,7 +735,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { // 1 meter in one simulation frame btBody->setCcdMotionThreshold(1e-7); - /// Calculate using the rule writte below the CCD swept sphere radius + /// Calculate using the rule write below the CCD swept sphere radius /// CCD works on an embedded sphere of radius, make sure this radius /// is embedded inside the convex objects, preferably smaller: /// for an object of dimensions 1 meter, try 0.2 @@ -756,7 +746,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { - btBody->setCcdMotionThreshold(10000.0); + btBody->setCcdMotionThreshold(0.); btBody->setCcdSweptSphereRadius(0.); } } @@ -768,8 +758,9 @@ bool RigidBodyBullet::is_continuous_collision_detection_enabled() const { void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) { btVector3 btVec; G_TO_B(p_velocity, btVec); - if (Vector3() != p_velocity) + if (Vector3() != p_velocity) { btBody->activate(); + } btBody->setLinearVelocity(btVec); } @@ -782,8 +773,9 @@ Vector3 RigidBodyBullet::get_linear_velocity() const { void RigidBodyBullet::set_angular_velocity(const Vector3 &p_velocity) { btVector3 btVec; G_TO_B(p_velocity, btVec); - if (Vector3() != p_velocity) + if (Vector3() != p_velocity) { btBody->activate(); + } btBody->setAngularVelocity(btVec); } @@ -795,8 +787,9 @@ Vector3 RigidBodyBullet::get_angular_velocity() const { void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) { if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) { - if (space && space->get_delta_time() != 0) + if (space && space->get_delta_time() != 0) { btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time()); + } // The kinematic use MotionState class godotMotionState->moveBody(p_global_transform); } else { @@ -808,10 +801,8 @@ void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transfor const btTransform &RigidBodyBullet::get_transform__bullet() const { if (is_static()) { - return RigidCollisionObjectBullet::get_transform__bullet(); } else { - return godotMotionState->getCurrentWorldTransform(); } } @@ -827,14 +818,15 @@ void RigidBodyBullet::reload_shapes() { // shapes incorrectly do not set the vector in calculateLocalIntertia. // Arbitrary zero is preferable to undefined behaviour. btVector3 inertia(0, 0, 0); - if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) // Necessary to avoid assertion of the empty shape + if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) { // Necessary to avoid assertion of the empty shape mainShape->calculateLocalInertia(mass, inertia); + } btBody->setMassProps(mass, inertia); } btBody->updateInertiaTensor(); reload_kinematic_shapes(); - set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0); + set_continuous_collision_detection(is_continuous_collision_detection_enabled()); reload_body(); } @@ -846,7 +838,6 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { return; } for (int i = 0; i < areaWhereIamCount; ++i) { - if (nullptr == areasWhereIam[i]) { // This area has the highest priority areasWhereIam.write[i] = p_area; @@ -854,8 +845,8 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { } else { if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) { // The position was found, just shift all elements - for (int j = i; j < areaWhereIamCount; ++j) { - areasWhereIam.write[j + 1] = areasWhereIam[j]; + for (int j = areaWhereIamCount; j > i; j--) { + areasWhereIam.write[j] = areasWhereIam[j - 1]; } areasWhereIam.write[i] = p_area; break; @@ -902,22 +893,20 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } void RigidBodyBullet::reload_space_override_modificator() { - - // Make sure that kinematic bodies have their total gravity calculated - if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) + if (mode == PhysicsServer3D::BODY_MODE_STATIC) { return; + } - Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude()); - real_t newLinearDamp(linearDamp); - real_t newAngularDamp(angularDamp); + Vector3 newGravity(0.0, 0.0, 0.0); + real_t newLinearDamp = MAX(0.0, linearDamp); + real_t newAngularDamp = MAX(0.0, angularDamp); AreaBullet *currentArea; // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer Vector3 support_gravity(0, 0, 0); - int countCombined(0); - for (int i = areaWhereIamCount - 1; 0 <= i; --i) { - + bool stopped = false; + for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) { currentArea = areasWhereIam[i]; if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) { @@ -926,7 +915,6 @@ void RigidBodyBullet::reload_space_override_modificator() { /// Here is calculated the gravity if (currentArea->is_spOv_gravityPoint()) { - /// It calculates the direction of new gravity support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin(); real_t distanceMag = support_gravity.length(); @@ -965,7 +953,6 @@ void RigidBodyBullet::reload_space_override_modificator() { newGravity += support_gravity; newLinearDamp += currentArea->get_spOv_linearDamp(); newAngularDamp += currentArea->get_spOv_angularDamp(); - ++countCombined; break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: /// This area adds its gravity/damp values to whatever has been calculated @@ -974,32 +961,31 @@ void RigidBodyBullet::reload_space_override_modificator() { newGravity += support_gravity; newLinearDamp += currentArea->get_spOv_linearDamp(); newAngularDamp += currentArea->get_spOv_angularDamp(); - ++countCombined; - goto endAreasCycle; + stopped = true; + break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: /// This area replaces any gravity/damp, even the default one, and /// stops taking into account the rest of the areas. newGravity = support_gravity; newLinearDamp = currentArea->get_spOv_linearDamp(); newAngularDamp = currentArea->get_spOv_angularDamp(); - countCombined = 1; - goto endAreasCycle; + stopped = true; + break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: /// This area replaces any gravity/damp calculated so far, but keeps /// calculating the rest of the areas, down to the default one. newGravity = support_gravity; newLinearDamp = currentArea->get_spOv_linearDamp(); newAngularDamp = currentArea->get_spOv_angularDamp(); - countCombined = 1; break; } } -endAreasCycle: - if (1 < countCombined) { - newGravity /= countCombined; - newLinearDamp /= countCombined; - newAngularDamp /= countCombined; + // Add default gravity and damping from space. + if (!stopped) { + newGravity += space->get_gravity_direction() * space->get_gravity_magnitude(); + newLinearDamp += space->get_linear_damp(); + newAngularDamp += space->get_angular_damp(); } btVector3 newBtGravity; @@ -1022,7 +1008,6 @@ void RigidBodyBullet::notify_transform_changed() { } void RigidBodyBullet::_internal_set_mass(real_t p_mass) { - btVector3 localInertia(0, 0, 0); int clearedCurrentFlags = btBody->getCollisionFlags(); @@ -1031,19 +1016,18 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { // Rigidbody is dynamic if and only if mass is non Zero, otherwise static const bool isDynamic = p_mass != 0.f; if (isDynamic) { - - if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode) + if (PhysicsServer3D::BODY_MODE_DYNAMIC != mode && PhysicsServer3D::MODE_DYNAMIC_LOCKED != mode) { return; + } m_isStatic = false; - if (mainShape) + if (mainShape) { mainShape->calculateLocalInertia(p_mass, localInertia); + } - if (PhysicsServer3D::BODY_MODE_RIGID == mode) { - + if (PhysicsServer3D::BODY_MODE_DYNAMIC == mode) { btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static } else { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT); } @@ -1053,16 +1037,14 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4 } } else { - - if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) + if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) { return; + } m_isStatic = true; if (PhysicsServer3D::BODY_MODE_STATIC == mode) { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT); } else { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT); set_transform__bullet(btBody->getWorldTransform()); // Set current Transform using kinematic method } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 420b5cc443..01ac1e4836 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -81,97 +81,96 @@ public: } public: - RigidBodyBullet *body; - real_t deltaTime; + RigidBodyBullet *body = nullptr; + real_t deltaTime = 0.0; 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 real_t get_total_angular_damp() const override; + virtual real_t 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 real_t 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 Transform3D &p_transform) override; + virtual Transform3D 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 Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override; - virtual void set_sleep_state(bool p_sleep); - virtual bool is_sleeping() const; + 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 int get_contact_count() const; + virtual void set_sleep_state(bool p_sleep) override; + virtual bool is_sleeping() 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 int get_contact_count() 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 Vector3 get_contact_local_position(int p_contact_idx) const override; + virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; + virtual real_t get_contact_impulse(int p_contact_idx) const override; + virtual int get_contact_local_shape(int p_contact_idx) const override; - virtual real_t get_step() const { return deltaTime; } - virtual void integrate_forces() { + 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 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 { - public: struct CollisionData { - RigidBodyBullet *otherObject; - int other_object_shape; - int local_shape; + RigidBodyBullet *otherObject = nullptr; + int other_object_shape = 0; + int local_shape = 0; Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; - float appliedImpulse; + real_t appliedImpulse = 0.0; }; struct ForceIntegrationCallback { - ObjectID id; - StringName method; + Callable callable; Variant udata; }; /// Used to hold shapes struct KinematicShape { - class btConvexShape *shape; + class btConvexShape *shape = nullptr; btTransform transform; - KinematicShape() : - shape(nullptr) {} + KinematicShape() {} bool is_active() const { return shape; } }; struct KinematicUtilities { - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; btScalar safe_margin; Vector<KinematicShape> shapes; @@ -190,19 +189,19 @@ private: friend class BulletPhysicsDirectBodyState3D; // This is required only for Kinematic movement - KinematicUtilities *kinematic_utilities; + KinematicUtilities *kinematic_utilities = nullptr; PhysicsServer3D::BodyMode mode; GodotMotionState *godotMotionState; btRigidBody *btBody; - uint16_t locked_axis; - real_t mass; - real_t gravity_scale; - real_t linearDamp; - real_t angularDamp; - bool can_sleep; - bool omit_forces_integration; - bool can_integrate_forces; + uint16_t locked_axis = 0; + real_t mass = 1.0; + real_t gravity_scale = 1.0; + real_t linearDamp = 0.0; + real_t angularDamp = 0.0; + bool can_sleep = true; + bool omit_forces_integration = false; + bool can_integrate_forces = false; Vector<CollisionData> collisions; Vector<RigidBodyBullet *> collision_traces_1; @@ -211,21 +210,21 @@ private: Vector<RigidBodyBullet *> *curr_collision_traces; // these parameters are used to avoid vector resize - int maxCollisionsDetection; - int collisionsCount; - int prev_collision_count; + int maxCollisionsDetection = 0; + int collisionsCount = 0; + int prev_collision_count = 0; Vector<AreaBullet *> areasWhereIam; // these parameters are used to avoid vector resize - int maxAreasWhereIam; - int areaWhereIamCount; + int maxAreasWhereIam = 10; + int areaWhereIamCount = 0; // Used to know if the area is used as gravity point - int countGravityPointSpaces; - bool isScratchedSpaceOverrideModificator; + int countGravityPointSpaces = 0; + bool isScratchedSpaceOverrideModificator = false; - bool previousActiveState; // Last check state + bool previousActiveState = true; // Last check state - ForceIntegrationCallback *force_integration_callback; + ForceIntegrationCallback *force_integration_callback = nullptr; public: RigidBodyBullet(); @@ -242,7 +241,7 @@ public: virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks(); - void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); + void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); void scratch_space_override_modificator(); virtual void on_collision_filters_change(); @@ -250,7 +249,6 @@ public: virtual void on_collision_checker_end(); void set_max_collisions_detection(int p_maxCollisionsDetection) { - ERR_FAIL_COND(0 > p_maxCollisionsDetection); maxCollisionsDetection = p_maxCollisionsDetection; @@ -267,11 +265,9 @@ public: } bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } - bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); + bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); bool was_colliding(RigidBodyBullet *p_other_object); - void assert_no_constraints(); - void set_activation_state(bool p_active); bool is_active() const; @@ -287,12 +283,12 @@ 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); @@ -305,7 +301,7 @@ public: void reload_axis_lock(); /// Doc: - /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping + /// https://web.archive.org/web/20180404091446/https://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping void set_continuous_collision_detection(bool p_enable); bool is_continuous_collision_detection_enabled() const; diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index 8ac26a0fdb..88ffb9ec67 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,7 +34,7 @@ #include "bullet_physics_server.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" #include "shape_owner_bullet.h" #include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> @@ -46,8 +46,7 @@ @author AndreaCatania */ -ShapeBullet::ShapeBullet() : - margin(0.04) {} +ShapeBullet::ShapeBullet() {} ShapeBullet::~ShapeBullet() {} @@ -81,7 +80,9 @@ void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) { Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner); - if (!E) return; + if (!E) { + return; + } E->get()--; if (p_permanentlyFromThisBody || 0 >= E->get()) { owners.erase(E); @@ -89,7 +90,6 @@ void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFrom } bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const { - return owners.has(p_owner); } @@ -110,7 +110,7 @@ btEmptyShape *ShapeBullet::create_shape_empty() { return bulletnew(btEmptyShape); } -btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) { +btStaticPlaneShape *ShapeBullet::create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant) { return bulletnew(btStaticPlaneShape(planeNormal, planeConstant)); } @@ -142,7 +142,7 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes } } -btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { +btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { const btScalar ignoredHeightScale(1); const int YAxis = 1; // 0=X, 1=Y, 2=Z const bool flipQuadEdges = false; @@ -151,8 +151,9 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t> btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); // The shape can be created without params when you do PhysicsServer3D.shape_create(PhysicsServer3D.SHAPE_HEIGHTMAP) - if (heightsPtr) + if (heightsPtr) { heightfield->buildAccelerator(16); + } return heightfield; } @@ -163,32 +164,32 @@ btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope return r; } -/* PLANE */ +/* World boundary */ -PlaneShapeBullet::PlaneShapeBullet() : +WorldBoundaryShapeBullet::WorldBoundaryShapeBullet() : ShapeBullet() {} -void PlaneShapeBullet::set_data(const Variant &p_data) { +void WorldBoundaryShapeBullet::set_data(const Variant &p_data) { setup(p_data); } -Variant PlaneShapeBullet::get_data() const { +Variant WorldBoundaryShapeBullet::get_data() const { return plane; } -PhysicsServer3D::ShapeType PlaneShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_PLANE; +PhysicsServer3D::ShapeType WorldBoundaryShapeBullet::get_type() const { + return PhysicsServer3D::SHAPE_WORLD_BOUNDARY; } -void PlaneShapeBullet::setup(const Plane &p_plane) { +void WorldBoundaryShapeBullet::setup(const Plane &p_plane) { plane = p_plane; notifyShapeChanged(); } -btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *WorldBoundaryShapeBullet::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)); + return prepare(WorldBoundaryShapeBullet::create_shape_world_boundary(btPlaneNormal, plane.d)); } /* Sphere */ @@ -274,7 +275,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { } btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge)); + return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1])); } /* Cylinder */ @@ -349,9 +350,10 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { } btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - if (!vertices.size()) + if (!vertices.size()) { // This is necessary since 0 vertices return prepare(ShapeBullet::create_shape_empty()); + } btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices)); cs->setLocalScaling(p_implicit_scale); prepare(cs); @@ -361,8 +363,7 @@ btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_i /* Concave polygon */ ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() : - ShapeBullet(), - meshShape(nullptr) {} + ShapeBullet() {} ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { if (meshShape) { @@ -374,11 +375,17 @@ ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { } void ConcavePolygonShapeBullet::set_data(const Variant &p_data) { - setup(p_data); + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("faces")); + + setup(d["faces"]); } Variant ConcavePolygonShapeBullet::get_data() const { - return faces; + Dictionary d; + d["faces"] = faces; + + return d; } PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const { @@ -395,7 +402,6 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { } int src_face_count = faces.size(); if (0 < src_face_count) { - // It counts the faces and assert the array contains the correct number of vertices. ERR_FAIL_COND(src_face_count % 3); @@ -433,9 +439,10 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); - if (!cs) + if (!cs) { // This is necessary since if 0 faces the creation of concave return null cs = ShapeBullet::create_shape_empty(); + } cs->setLocalScaling(p_implicit_scale); prepare(cs); cs->setMargin(0); @@ -458,20 +465,22 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { real_t l_max_height = 0.0; // If specified, min and max height will be used as precomputed values - if (d.has("min_height")) + if (d.has("min_height")) { l_min_height = d["min_height"]; - if (d.has("max_height")) + } + if (d.has("max_height")) { l_max_height = d["max_height"]; + } ERR_FAIL_COND(l_min_height > l_max_height); int l_width = d["width"]; int l_depth = d["depth"]; - // TODO This code will need adjustments if real_t is set to `double`, - // because that precision is unnecessary for a heightmap and Bullet doesn't support it... + ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2."); + ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2."); - Vector<real_t> l_heights; + Vector<float> l_heights; Variant l_heights_v = d["heights"]; if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) { @@ -495,7 +504,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { l_heights.resize(l_image->get_width() * l_image->get_height()); - real_t *w = l_heights.ptrw(); + float *w = l_heights.ptrw(); const uint8_t *r = im_data.ptr(); float *rp = (float *)r; // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be. @@ -514,12 +523,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { // Compute min and max heights if not specified. if (!d.has("min_height") && !d.has("max_height")) { - - const real_t *r = l_heights.ptr(); + const float *r = l_heights.ptr(); int heights_size = l_heights.size(); for (int i = 0; i < heights_size; ++i) { - real_t h = r[i]; + float h = r[i]; if (h < l_min_height) { l_min_height = h; @@ -540,7 +548,7 @@ PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const { return PhysicsServer3D::SHAPE_HEIGHTMAP; } -void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { +void HeightMapShapeBullet::setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { // TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes // If this array is resized outside of here, it should be preserved due to CoW @@ -562,18 +570,14 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli /* Ray shape */ RayShapeBullet::RayShapeBullet() : - ShapeBullet(), - length(1), - slips_on_slope(false) {} + ShapeBullet() {} void RayShapeBullet::set_data(const Variant &p_data) { - Dictionary d = p_data; setup(d["length"], d["slips_on_slope"]); } Variant RayShapeBullet::get_data() const { - Dictionary d; d["length"] = length; d["slips_on_slope"] = slips_on_slope; diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 0dbc616fe5..0822399b5e 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #ifndef SHAPE_BULLET_H #define SHAPE_BULLET_H -#include "core/math/geometry.h" -#include "core/variant.h" +#include "core/math/geometry_3d.h" +#include "core/variant/variant.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -50,9 +50,8 @@ class ShapeOwnerBullet; class btBvhTriangleMeshShape; class ShapeBullet : public RIDBullet { - Map<ShapeOwnerBullet *, int> owners; - real_t margin; + real_t margin = 0.04; protected: /// return self @@ -82,7 +81,7 @@ public: public: static class btEmptyShape *create_shape_empty(); - static class btStaticPlaneShape *create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant); + static class btStaticPlaneShape *create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant); static class btSphereShape *create_shape_sphere(btScalar radius); static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents); static class btCapsuleShape *create_shape_capsule(btScalar radius, btScalar height); @@ -90,16 +89,15 @@ public: /// 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)); - static class btHeightfieldTerrainShape *create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); + static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope); }; -class PlaneShapeBullet : public ShapeBullet { - +class WorldBoundaryShapeBullet : public ShapeBullet { Plane plane; public: - PlaneShapeBullet(); + WorldBoundaryShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; @@ -111,7 +109,6 @@ private: }; class SphereShapeBullet : public ShapeBullet { - real_t radius; public: @@ -128,7 +125,6 @@ private: }; class BoxShapeBullet : public ShapeBullet { - btVector3 half_extents; public: @@ -145,7 +141,6 @@ private: }; class CapsuleShapeBullet : public ShapeBullet { - real_t height; real_t radius; @@ -164,7 +159,6 @@ private: }; class CylinderShapeBullet : public ShapeBullet { - real_t height; real_t radius; @@ -183,7 +177,6 @@ private: }; class ConvexPolygonShapeBullet : public ShapeBullet { - public: btAlignedObjectArray<btVector3> vertices; @@ -200,7 +193,7 @@ private: }; class ConcavePolygonShapeBullet : public ShapeBullet { - class btBvhTriangleMeshShape *meshShape; + class btBvhTriangleMeshShape *meshShape = nullptr; public: Vector<Vector3> faces; @@ -218,13 +211,12 @@ private: }; class HeightMapShapeBullet : public ShapeBullet { - public: - Vector<real_t> heights; - int width; - int depth; - real_t min_height; - real_t max_height; + Vector<float> heights; + int width = 0; + int depth = 0; + real_t min_height = 0.0; + real_t max_height = 0.0; HeightMapShapeBullet(); @@ -234,14 +226,13 @@ public: virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: - void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); + void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); }; class RayShapeBullet : public ShapeBullet { - public: - real_t length; - bool slips_on_slope; + real_t length = 1.0; + bool slips_on_slope = false; RayShapeBullet(); diff --git a/modules/bullet/shape_owner_bullet.cpp b/modules/bullet/shape_owner_bullet.cpp index d63096d9a3..ea8821eaec 100644 --- a/modules/bullet/shape_owner_bullet.cpp +++ b/modules/bullet/shape_owner_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h index f909632c99..4bd583e096 100644 --- a/modules/bullet/shape_owner_bullet.h +++ b/modules/bullet/shape_owner_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index f193daef39..1d83118468 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -40,18 +40,16 @@ @author AndreaCatania */ -SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : +SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : JointBullet() { - - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; @@ -72,44 +70,44 @@ const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const { return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer()); } -const Transform SliderJointBullet::getCalculatedTransformA() const { +const Transform3D SliderJointBullet::getCalculatedTransformA() const { btTransform btTransform = sliderConstraint->getCalculatedTransformA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getCalculatedTransformB() const { +const Transform3D SliderJointBullet::getCalculatedTransformB() const { btTransform btTransform = sliderConstraint->getCalculatedTransformB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getFrameOffsetA() const { +const Transform3D SliderJointBullet::getFrameOffsetA() const { btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getFrameOffsetB() const { +const Transform3D SliderJointBullet::getFrameOffsetB() const { btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -Transform SliderJointBullet::getFrameOffsetA() { +Transform3D SliderJointBullet::getFrameOffsetA() { btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -Transform SliderJointBullet::getFrameOffsetB() { +Transform3D SliderJointBullet::getFrameOffsetB() { btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } @@ -121,6 +119,7 @@ real_t SliderJointBullet::getLowerLinLimit() const { void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) { sliderConstraint->setLowerLinLimit(lowerLimit); } + real_t SliderJointBullet::getUpperLinLimit() const { return sliderConstraint->getUpperLinLimit(); } @@ -344,56 +343,123 @@ real_t SliderJointBullet::getLinearPos() { void SliderJointBullet::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) { switch (p_param) { - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: setUpperLinLimit(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: setLowerLinLimit(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: setSoftnessLimLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: setRestitutionLimLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: setDampingLimLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: setSoftnessDirLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: setRestitutionDirLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: setDampingDirLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: setDampingOrthoLin(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: setUpperAngLimit(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: setLowerAngLimit(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: setSoftnessLimAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: setRestitutionLimAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: setDampingLimAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: setSoftnessDirAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: setRestitutionDirAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: setDampingDirAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: setDampingOrthoAng(p_value); break; - case PhysicsServer3D::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: + setUpperLinLimit(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: + setLowerLinLimit(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: + setSoftnessLimLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: + setRestitutionLimLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: + setDampingLimLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: + setSoftnessDirLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: + setRestitutionDirLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: + setDampingDirLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: + setSoftnessOrthoLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: + setRestitutionOrthoLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: + setDampingOrthoLin(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: + setUpperAngLimit(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: + setLowerAngLimit(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: + setSoftnessLimAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: + setRestitutionLimAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: + setDampingLimAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: + setSoftnessDirAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: + setRestitutionDirAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: + setDampingDirAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: + setSoftnessOrthoAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: + setRestitutionOrthoAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: + setDampingOrthoAng(p_value); + break; + case PhysicsServer3D::SLIDER_JOINT_MAX: + break; // Can't happen, but silences warning } } real_t SliderJointBullet::get_param(PhysicsServer3D::SliderJointParam p_param) const { switch (p_param) { - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return getUpperLinLimit(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return getLowerLinLimit(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return getSoftnessLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return getRestitutionLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return getDampingLimLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return getSoftnessDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return getRestitutionDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return getDampingDirLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return getDampingOrthoLin(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return getUpperAngLimit(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return getLowerAngLimit(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return getSoftnessLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return getRestitutionLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return getDampingLimAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return getSoftnessDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return getRestitutionDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return getDampingDirAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoAng(); - case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return getDampingOrthoAng(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: + return getUpperLinLimit(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER: + return getLowerLinLimit(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: + return getSoftnessLimLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: + return getRestitutionLimLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: + return getDampingLimLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: + return getSoftnessDirLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: + return getRestitutionDirLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING: + return getDampingDirLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: + return getSoftnessOrthoLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: + return getRestitutionOrthoLin(); + case PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: + return getDampingOrthoLin(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: + return getUpperAngLimit(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: + return getLowerAngLimit(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: + return getSoftnessLimAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: + return getRestitutionLimAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: + return getDampingLimAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: + return getSoftnessDirAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: + return getRestitutionDirAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: + return getDampingDirAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: + return getSoftnessOrthoAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: + return getRestitutionOrthoAng(); + case PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: + return getDampingOrthoAng(); default: return 0; } diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h index 6410b952ed..0c93558449 100644 --- a/modules/bullet/slider_joint_bullet.h +++ b/modules/bullet/slider_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -44,18 +44,18 @@ class SliderJointBullet : public JointBullet { public: /// Reference frame is A - SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); + SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_SLIDER; } const RigidBodyBullet *getRigidBodyA() const; const RigidBodyBullet *getRigidBodyB() const; - const Transform getCalculatedTransformA() const; - const Transform getCalculatedTransformB() const; - const Transform getFrameOffsetA() const; - const Transform getFrameOffsetB() const; - Transform getFrameOffsetA(); - Transform getFrameOffsetB(); + const Transform3D getCalculatedTransformA() const; + const Transform3D getCalculatedTransformB() const; + const Transform3D getFrameOffsetA() const; + const Transform3D getFrameOffsetB() const; + Transform3D getFrameOffsetA(); + Transform3D getFrameOffsetB(); real_t getLowerLinLimit() const; void setLowerLinLimit(real_t lowerLimit); real_t getUpperLinLimit() const; diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 236bdc7c8a..bbbb0e7851 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -36,18 +36,7 @@ #include "space_bullet.h" SoftBodyBullet::SoftBodyBullet() : - CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), - bt_soft_body(nullptr), - isScratched(false), - simulation_precision(5), - total_mass(1.), - linear_stiffness(0.5), - areaAngular_stiffness(0.5), - volume_stiffness(0.5), - pressure_coefficient(0.), - pose_matching_coefficient(0.), - damping_coefficient(0.01), - drag_coefficient(0.) {} + CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {} SoftBodyBullet::~SoftBodyBullet() { } @@ -76,9 +65,10 @@ void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {} void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {} -void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_rendering_server_handler) { - if (!bt_soft_body) +void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) { + if (!bt_soft_body) { return; + } /// Update visual server vertices const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes); @@ -116,14 +106,13 @@ void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_r } void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) { - - if (p_mesh.is_null()) + if (p_mesh.is_null()) { soft_mesh.unref(); - else + } else { soft_mesh = p_mesh; + } if (soft_mesh.is_null()) { - destroy_soft_body(); return; } @@ -134,9 +123,9 @@ void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) { } void SoftBodyBullet::destroy_soft_body() { - - if (!bt_soft_body) + if (!bt_soft_body) { return; + } if (space) { /// Remove from world before deletion @@ -147,14 +136,33 @@ void SoftBodyBullet::destroy_soft_body() { bt_soft_body = nullptr; } -void SoftBodyBullet::set_soft_transform(const Transform &p_transform) { +void SoftBodyBullet::set_soft_transform(const Transform3D &p_transform) { reset_all_node_positions(); move_all_nodes(p_transform); } -void SoftBodyBullet::move_all_nodes(const Transform &p_transform) { - if (!bt_soft_body) +AABB SoftBodyBullet::get_bounds() const { + if (!bt_soft_body) { + return AABB(); + } + + btVector3 aabb_min; + btVector3 aabb_max; + bt_soft_body->getAabb(aabb_min, aabb_max); + + btVector3 size(aabb_max - aabb_min); + + AABB aabb; + B_TO_G(aabb_min, aabb.position); + B_TO_G(size, aabb.size); + + return aabb; +} + +void SoftBodyBullet::move_all_nodes(const Transform3D &p_transform) { + if (!bt_soft_body) { return; + } btTransform bt_transf; G_TO_B(p_transform, bt_transf); bt_soft_body->transform(bt_transf); @@ -179,24 +187,6 @@ void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) co } } -void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const { - if (soft_mesh.is_null()) - return; - - Array arrays = soft_mesh->surface_get_arrays(0); - Vector<Vector3> vertices(arrays[RS::ARRAY_VERTEX]); - - if (0 <= p_node_index && vertices.size() > p_node_index) { - r_offset = vertices[p_node_index]; - } -} - -void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const { - Vector3 off; - get_node_offset(p_node_index, off); - G_TO_B(off, r_offset); -} - void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) { if (0 >= p_mass) { pin_node(node_index); @@ -226,15 +216,15 @@ void SoftBodyBullet::reset_all_node_mass() { } void SoftBodyBullet::reset_all_node_positions() { - if (soft_mesh.is_null()) + if (soft_mesh.is_null()) { return; + } Array arrays = soft_mesh->surface_get_arrays(0); Vector<Vector3> vs_vertices(arrays[RS::ARRAY_VERTEX]); const Vector3 *vs_vertices_read = vs_vertices.ptr(); for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) { - G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x); bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x; @@ -268,20 +258,6 @@ void SoftBodyBullet::set_linear_stiffness(real_t p_val) { } } -void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) { - areaAngular_stiffness = p_val; - if (bt_soft_body) { - mat0->m_kAST = areaAngular_stiffness; - } -} - -void SoftBodyBullet::set_volume_stiffness(real_t p_val) { - volume_stiffness = p_val; - if (bt_soft_body) { - mat0->m_kVST = volume_stiffness; - } -} - void SoftBodyBullet::set_simulation_precision(int p_val) { simulation_precision = p_val; if (bt_soft_body) { @@ -299,13 +275,6 @@ void SoftBodyBullet::set_pressure_coefficient(real_t p_val) { } } -void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) { - pose_matching_coefficient = p_val; - if (bt_soft_body) { - bt_soft_body->m_cfg.kMT = pose_matching_coefficient; - } -} - void SoftBodyBullet::set_damping_coefficient(real_t p_val) { damping_coefficient = p_val; if (bt_soft_body) { @@ -342,11 +311,10 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector const Vector3 *p_vertices_read = p_vertices.ptr(); for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) { - Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]); int vertex_id; if (e) { - // Already rxisting + // Already existing vertex_id = e->value(); } else { // Create new one @@ -398,9 +366,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector } void SoftBodyBullet::setup_soft_body() { - - if (!bt_soft_body) + if (!bt_soft_body) { return; + } // Soft body setup setupBulletCollisionObject(bt_soft_body); @@ -419,8 +387,6 @@ void SoftBodyBullet::setup_soft_body() { bt_soft_body->generateBendingConstraints(2, mat0); mat0->m_kLST = linear_stiffness; - mat0->m_kAST = areaAngular_stiffness; - mat0->m_kVST = volume_stiffness; // Clusters allow to have Soft vs Soft collision but doesn't work well right now @@ -440,7 +406,6 @@ void SoftBodyBullet::setup_soft_body() { bt_soft_body->m_cfg.kDP = damping_coefficient; bt_soft_body->m_cfg.kDG = drag_coefficient; bt_soft_body->m_cfg.kPR = pressure_coefficient; - bt_soft_body->m_cfg.kMT = pose_matching_coefficient; bt_soft_body->setTotalMass(total_mass); btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body); diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index 3c6871e0d6..63708b57a7 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -55,25 +55,23 @@ @author AndreaCatania */ -class SoftBodyBullet : public CollisionObjectBullet { +class RenderingServerHandler; +class SoftBodyBullet : public CollisionObjectBullet { private: - btSoftBody *bt_soft_body; + btSoftBody *bt_soft_body = nullptr; Vector<Vector<int>> indices_table; - btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody - bool isScratched; + btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody + bool isScratched = false; Ref<Mesh> soft_mesh; - int simulation_precision; - real_t total_mass; - real_t linear_stiffness; // [0,1] - real_t areaAngular_stiffness; // [0,1] - real_t volume_stiffness; // [0,1] - real_t pressure_coefficient; // [-inf,+inf] - real_t pose_matching_coefficient; // [0,1] - real_t damping_coefficient; // [0,1] - real_t drag_coefficient; // [0,1] + int simulation_precision = 5; + real_t total_mass = 1.; + real_t linear_stiffness = 0.5; // [0,1] + real_t pressure_coefficient = 0.; // [-inf,+inf] + real_t damping_coefficient = 0.01; // [0,1] + real_t drag_coefficient = 0.; // [0,1] Vector<int> pinned_nodes; // Other property to add @@ -100,22 +98,20 @@ public: _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } - void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler); + void update_rendering_server(RenderingServerHandler *p_rendering_server_handler); void set_soft_mesh(const Ref<Mesh> &p_mesh); void destroy_soft_body(); // Special function. This function has bad performance - void set_soft_transform(const Transform &p_transform); + void set_soft_transform(const Transform3D &p_transform); + + AABB get_bounds() const; - void move_all_nodes(const Transform &p_transform); + void move_all_nodes(const Transform3D &p_transform); void set_node_position(int node_index, const Vector3 &p_global_position); void set_node_position(int node_index, const btVector3 &p_global_position); void get_node_position(int node_index, Vector3 &r_position) const; - // Heavy function, Please cache this info - void get_node_offset(int node_index, Vector3 &r_offset) const; - // Heavy function, Please cache this info - void get_node_offset(int node_index, btVector3 &r_offset) const; void set_node_mass(int node_index, btScalar p_mass); btScalar get_node_mass(int node_index) const; @@ -130,21 +126,12 @@ public: void set_linear_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } - void set_areaAngular_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } - - void set_volume_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; } - void set_simulation_precision(int p_val); _FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; } void set_pressure_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } - void set_pose_matching_coefficient(real_t p_val); - _FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; } - void set_damping_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 1659664ff9..a9a811c445 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,8 +34,8 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "constraint_bullet.h" -#include "core/project_settings.h" -#include "core/ustring.h" +#include "core/config/project_settings.h" +#include "core/string/ustring.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" #include "rigid_body_bullet.h" @@ -63,9 +63,9 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac space(p_space) {} int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - - if (p_result_max <= 0) + if (p_result_max <= 0) { return 0; + } btVector3 bt_point; G_TO_B(p_point, bt_point); @@ -81,12 +81,11 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape btResult.m_collisionFilterMask = p_collision_mask; space->dynamicsWorld->contactTest(&collision_object_point, btResult); - // The results is already populated by GodotAllConvexResultCallback + // The results are already populated by GodotAllConvexResultCallback return btResult.m_count; } bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { - btVector3 btVec_from; btVector3 btVec_to; @@ -118,11 +117,13 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + if (p_result_max <= 0) { return 0; + } 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()) { @@ -151,8 +152,14 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { + r_closest_safe = 0.0f; + r_closest_unsafe = 0.0f; + btVector3 bt_motion; + G_TO_B(p_motion, bt_motion); + 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()) { @@ -162,9 +169,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } 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 +176,19 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btTransform bt_xform_to(bt_xform_from); bt_xform_to.getOrigin() += bt_motion; + if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) { + r_closest_safe = 1.0f; + r_closest_unsafe = 1.0f; + bulletdelete(btShape); + return true; + } + GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas); btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; 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; @@ -196,6 +204,9 @@ 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); @@ -203,17 +214,19 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } /// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) - return 0; +bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + if (p_result_max <= 0) { + return false; + } 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); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return 0; + return false; } btConvexShape *btConvex = static_cast<btConvexShape *>(btShape); @@ -237,15 +250,15 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); + ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return 0; + return false; } btConvexShape *btConvex = static_cast<btConvexShape *>(btShape); @@ -276,8 +289,7 @@ 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); @@ -320,31 +332,16 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ } if (shapes_found) { - Vector3 out; B_TO_G(out_closest_point, out); return out; } else { - // no shapes found, use distance to origin. return rigid_object->get_transform().get_origin(); } } -SpaceBullet::SpaceBullet() : - broadphase(nullptr), - collisionConfiguration(nullptr), - dispatcher(nullptr), - solver(nullptr), - dynamicsWorld(nullptr), - soft_body_world_info(nullptr), - ghostPairCallback(nullptr), - godotFilterCallback(nullptr), - gravityDirection(0, -1, 0), - gravityMagnitude(10), - contactDebugCount(0), - delta_time(0.) { - +SpaceBullet::SpaceBullet() { create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true)); direct_access = memnew(BulletPhysicsDirectSpaceState(this)); } @@ -379,8 +376,11 @@ void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Varian update_gravity(); break; case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: + linear_damp = p_value; + break; case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - break; // No damp + angular_damp = p_value; + break; case PhysicsServer3D::AREA_PARAM_PRIORITY: // Priority is always 0, the lower break; @@ -401,8 +401,9 @@ Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) { case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR: return gravityDirection; case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: + return linear_damp; case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - return 0; // No damp + return angular_damp; case PhysicsServer3D::AREA_PARAM_PRIORITY: return 0; // Priority is always 0, the lower case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT: @@ -444,7 +445,7 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) { case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: default: - WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned."); + WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned."); return 0.f; } } @@ -478,11 +479,25 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { } } +void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + + int constraints = btBody->getNumConstraintRefs(); + if (constraints > 0) { + ERR_PRINT("A body connected to joints was removed."); + for (int i = 0; i < constraints; i++) { + dynamicsWorld->removeConstraint(btBody->getConstraintRef(i)); + } + } +} + void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + dynamicsWorld->removeCollisionObject(btBody); } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + dynamicsWorld->removeRigidBody(btBody); } } @@ -543,12 +558,7 @@ 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(); // Notify all Collision objects the collision checker is started @@ -570,17 +580,14 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { } btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) { - return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1); } btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) { - return ABS(MIN(body0->getFriction(), body1->getFriction())); } void SpaceBullet::create_empty_world(bool p_create_soft_world) { - gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver); gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver); @@ -618,7 +625,6 @@ 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); @@ -633,7 +639,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { } void SpaceBullet::destroy_world() { - /// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr); @@ -657,7 +662,6 @@ void SpaceBullet::destroy_world() { } void SpaceBullet::check_ghost_overlaps() { - /// Algorithm support variables btCollisionShape *other_body_shape; btConvexShape *area_shape; @@ -671,8 +675,9 @@ void SpaceBullet::check_ghost_overlaps() { btVector3 area_scale(area->get_bt_body_scale()); - if (!area->is_monitoring()) + if (!area->is_monitoring()) { continue; + } /// 1. Reset all states for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) { @@ -690,7 +695,6 @@ void SpaceBullet::check_ghost_overlaps() { // For each overlapping for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { - bool hasOverlap = false; btCollisionObject *overlapped_bt_co = ghostOverlaps[i]; RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer()); @@ -702,15 +706,18 @@ void SpaceBullet::check_ghost_overlaps() { } if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) { - if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable()) + if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable()) { continue; - } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) + } + } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) { continue; + } // For each area shape for (y = area->get_shape_count() - 1; 0 <= y; --y) { - if (!area->get_bt_shape(y)->isConvex()) + if (!area->get_bt_shape(y)->isConvex()) { continue; + } btTransform area_shape_treansform(area->get_bt_shape_transform(y)); area_shape_treansform.getOrigin() *= area_scale; @@ -723,7 +730,6 @@ void SpaceBullet::check_ghost_overlaps() { // For each other object shape for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) { - other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z)); btTransform other_shape_transform(otherObject->get_bt_shape_transform(z)); @@ -734,7 +740,6 @@ void SpaceBullet::check_ghost_overlaps() { other_shape_transform; if (other_body_shape->isConvex()) { - btPointCollector result; btGjkPairDetector gjk_pair_detector( area_shape, @@ -749,14 +754,14 @@ void SpaceBullet::check_ghost_overlaps() { } } else { - btCollisionObjectWrapper obA(nullptr, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); btCollisionObjectWrapper obB(nullptr, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS); - if (!algorithm) + if (!algorithm) { continue; + } GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); @@ -774,8 +779,9 @@ void SpaceBullet::check_ghost_overlaps() { } // ~For each area shape collision_found: - if (!hasOverlap) + if (!hasOverlap) { continue; + } indexOverlap = area->find_overlapping_object(otherObject); if (-1 == indexOverlap) { @@ -832,24 +838,35 @@ void SpaceBullet::check_body_collision() { pt.getDistance() <= 0.0 || bodyA->was_colliding(bodyB) || bodyB->was_colliding(bodyA)) { - Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; + real_t appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); + // The pt.m_index only contains the shape index when more than one collision shape is used + // and only if the collision shape is not a concave collision shape. + // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. + int shape_index_a = 0; + if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { + shape_index_a = pt.m_index0; + } + int shape_index_b = 0; + if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { + shape_index_b = pt.m_index1; + } + if (bodyA->can_add_collision()) { B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); /// pt.m_localPointB Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a); } if (bodyB->can_add_collision()) { B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); /// pt.m_localPointA Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b); } #ifdef DEBUG_ENABLED @@ -891,8 +908,7 @@ static Ref<StandardMaterial3D> red_mat; static Ref<StandardMaterial3D> blue_mat; #endif -bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) { - +bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) { #if debug_test_motion /// Yes I know this is not good, but I've used it as fast debugging hack. /// I'm leaving it here just for speedup the other eventual debugs @@ -902,8 +918,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f SceneTree::get_singleton()->get_current_scene()->add_child(motionVec); SceneTree::get_singleton()->get_current_scene()->add_child(normalLine); - motionVec->set_as_toplevel(true); - normalLine->set_as_toplevel(true); + motionVec->set_as_top_level(true); + normalLine->set_as_top_level(true); red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); @@ -929,10 +945,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f G_TO_B(p_from, body_transform); UNSCALE_BT_BASIS(body_transform); + if (!p_body->get_kinematic_utilities()) { + p_body->init_kinematic_utilities(); + p_body->reload_kinematic_shapes(); + } + 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_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) { + if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion, nullptr, p_exclude)) { break; } } @@ -942,6 +963,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btVector3 motion; G_TO_B(p_motion, motion); + real_t total_length = motion.length(); + real_t unsafe_fraction = 1.0; + real_t safe_fraction = 1.0; { // Phase two - sweep test, from a secure position without margin @@ -957,7 +981,7 @@ 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; } @@ -979,13 +1003,27 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btTransform shape_world_to(shape_world_from); shape_world_to.getOrigin() += motion; - GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia); + 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, &p_exclude); btResult.m_collisionFilterGroup = p_body->get_collision_layer(); btResult.m_collisionFilterMask = p_body->get_collision_mask(); dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); if (btResult.hasHit()) { + if (total_length > CMP_EPSILON) { + real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length; + if (hit_fraction < unsafe_fraction) { + unsafe_fraction = hit_fraction; + real_t margin = p_body->get_kinematic_utilities()->safe_margin; + safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0); + } + } + /// Since for each sweep test I fix the motion of new shapes in base the recover result, /// if another shape will hit something it means that has a deepest penetration respect the previous shape motion *= btResult.m_closestHitFraction; @@ -1002,14 +1040,13 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btVector3 __rec(0, 0, 0); RecoverResult r_recover_result; - has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result); + has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result, p_exclude); // Parse results if (r_result) { B_TO_G(motion + initial_recover_motion + __rec, r_result->motion); if (has_penetration) { - const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object); CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer()); @@ -1023,6 +1060,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f 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; + r_result->collision_depth = Math::abs(r_recover_result.penetration_distance); + r_result->collision_safe_fraction = safe_fraction; + r_result->collision_unsafe_fraction = unsafe_fraction; #if debug_test_motion Vector3 sup_line2; @@ -1042,12 +1082,16 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f return has_penetration; } -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) { - +int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); + if (!p_body->get_kinematic_utilities()) { + p_body->init_kinematic_utilities(); + p_body->reload_kinematic_shapes(); + } + btVector3 recover_motion(0, 0, 0); int rays_found = 0; @@ -1073,13 +1117,12 @@ private: btDbvtVolume bounds; const btCollisionObject *self_collision_object; - uint32_t collision_layer; - uint32_t collision_mask; + uint32_t collision_layer = 0; struct CompoundLeafCallback : btDbvt::ICollide { private: - RecoverPenetrationBroadPhaseCallback *parent_callback; - btCollisionObject *collision_object; + RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr; + btCollisionObject *collision_object = nullptr; public: CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) : @@ -1097,28 +1140,25 @@ private: public: struct BroadphaseResult { - btCollisionObject *collision_object; - int compound_child_index; + btCollisionObject *collision_object = nullptr; + int compound_child_index = 0; }; Vector<BroadphaseResult> results; public: - RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) : + RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, btVector3 p_aabb_min, btVector3 p_aabb_max) : self_collision_object(p_self_collision_object), - collision_layer(p_collision_layer), - collision_mask(p_collision_mask) { - + collision_layer(p_collision_layer) { bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max); } virtual ~RecoverPenetrationBroadPhaseCallback() {} virtual bool process(const btBroadphaseProxy *proxy) { - btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject); if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) { - if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) { + if (self_collision_object != proxy->m_clientObject && (proxy->collision_layer & m_collisionFilterMask)) { if (co->getCollisionShape()->isCompound()) { const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape()); @@ -1158,14 +1198,12 @@ public: } }; -bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - +bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result, const Set<RID> &p_exclude) { // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1203,14 +1241,13 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran } // Perform broadphase test - RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max); + RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max); dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result); bool penetration = false; // Perform narrowphase per shape for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1221,16 +1258,27 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran continue; } + if (kin_shape.shape->getShapeType() == EMPTY_SHAPE_PROXYTYPE) { + continue; + } + btTransform shape_transform = p_body_position * kin_shape.transform; shape_transform.getOrigin() += r_delta_recover_movement; for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) { btCollisionObject *otherObject = recover_broad_result.results[i].collision_object; + + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer()); + if (p_exclude.has(gObj->get_self())) { + continue; + } + if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) { otherObject->activate(); // Force activation of hitten rigid, soft body continue; - } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) + } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) { continue; + } if (otherObject->getCollisionShape()->isCompound()) { const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape()); @@ -1239,23 +1287,19 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran if (cs->getChildShape(shape_idx)->isConvex()) { if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } else { if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } } else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } else { if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } @@ -1266,7 +1310,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran } bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - // Initialize GJK input btGjkPairDetector::ClosestPointInput gjk_input; gjk_input.m_transformA = p_transformA; @@ -1297,7 +1340,6 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt } bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - /// Contact test btTransform tA(p_transformA); @@ -1334,7 +1376,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC } int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const { - // optimize results (ignore non-colliding) if (p_recover_result.penetration_distance < 0.0) { const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object); @@ -1356,13 +1397,11 @@ int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_resu } int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results) { - // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1399,14 +1438,13 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT } // Perform broadphase test - RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max); + RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max); dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result); int ray_count = 0; // Perform narrowphase per shape for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - if (ray_count >= p_result_max) { break; } @@ -1428,8 +1466,9 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) { otherObject->activate(); // Force activation of hitten rigid, soft body continue; - } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) + } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) { continue; + } if (otherObject->getCollisionShape()->isCompound()) { const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape()); @@ -1438,14 +1477,11 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT RecoverResult recover_result; if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); } } else { - RecoverResult recover_result; if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); } } diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index f9a8c063fd..cf8549030d 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H -#include "core/variant.h" -#include "core/vector.h" +#include "core/templates/vector.h" +#include "core/variant/variant.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -76,43 +76,45 @@ 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 = UINT32_MAX, 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 = UINT32_MAX, 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 Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, 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 Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, 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 { - friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; - btBroadphaseInterface *broadphase; - btDefaultCollisionConfiguration *collisionConfiguration; - btCollisionDispatcher *dispatcher; - btConstraintSolver *solver; - btDiscreteDynamicsWorld *dynamicsWorld; - btSoftBodyWorldInfo *soft_body_world_info; - btGhostPairCallback *ghostPairCallback; - GodotFilterCallback *godotFilterCallback; + btBroadphaseInterface *broadphase = nullptr; + btDefaultCollisionConfiguration *collisionConfiguration = nullptr; + btCollisionDispatcher *dispatcher = nullptr; + btConstraintSolver *solver = nullptr; + btDiscreteDynamicsWorld *dynamicsWorld = nullptr; + btSoftBodyWorldInfo *soft_body_world_info = nullptr; + btGhostPairCallback *ghostPairCallback = nullptr; + GodotFilterCallback *godotFilterCallback = nullptr; - btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; - btVoronoiSimplexSolver *gjk_simplex_solver; + btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr; + btVoronoiSimplexSolver *gjk_simplex_solver = nullptr; BulletPhysicsDirectSpaceState *direct_access; - Vector3 gravityDirection; - real_t gravityMagnitude; + Vector3 gravityDirection = Vector3(0, -1, 0); + real_t gravityMagnitude = 10.0; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; Vector<AreaBullet *> areas; Vector<Vector3> contactDebug; - int contactDebugCount; - real_t delta_time; + int contactDebugCount = 0; + real_t delta_time = 0.; public: SpaceBullet(); @@ -122,9 +124,12 @@ 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 @@ -146,6 +151,7 @@ public: void reload_collision_filters(AreaBullet *p_area); void add_rigid_body(RigidBodyBullet *p_body); + void remove_rigid_body_constraints(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); @@ -162,12 +168,14 @@ public: BulletPhysicsDirectSpaceState *get_direct_state(); void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); } _FORCE_INLINE_ void reset_debug_contact_count() { contactDebugCount = 0; } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { - if (contactDebugCount < contactDebug.size()) contactDebug.write[contactDebugCount++] = p_contact; + if (contactDebugCount < contactDebug.size()) { + contactDebug.write[contactDebugCount++] = p_contact; + } } _FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; } _FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; } @@ -177,8 +185,11 @@ public: void update_gravity(); - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); - int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); + real_t get_linear_damp() const { return linear_damp; } + real_t get_angular_damp() const { return angular_damp; } + + bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>()); + int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); private: void create_empty_world(bool p_create_soft_world); @@ -187,25 +198,18 @@ private: void check_body_collision(); struct RecoverResult { - bool hasPenetration; - btVector3 normal; - btVector3 pointWorld; - btScalar penetration_distance; // Negative mean penetration - int other_compound_shape_index; - const btCollisionObject *other_collision_object; - int local_shape_most_recovered; - - RecoverResult() : - hasPenetration(false), - normal(0, 0, 0), - pointWorld(0, 0, 0), - penetration_distance(1e20), - other_compound_shape_index(0), - other_collision_object(nullptr), - local_shape_most_recovered(0) {} + bool hasPenetration = false; + btVector3 normal = btVector3(0, 0, 0); + btVector3 pointWorld = btVector3(0, 0, 0); + btScalar penetration_distance = 1e20; // Negative mean penetration + int other_compound_shape_index = 0; + const btCollisionObject *other_collision_object = nullptr; + int local_shape_most_recovered = 0; + + RecoverResult() {} }; - bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr); + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr, const Set<RID> &p_exclude = Set<RID>()); /// This is an API that recover a kinematic object from penetration /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr); 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