diff options
Diffstat (limited to 'modules/bullet')
21 files changed, 1142 insertions, 419 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index bfb452d109..3668088590 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -80,7 +80,7 @@ void AreaBullet::dispatch_callbacks() { // Reverse order because I've to remove EXIT objects for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { - OverlappingObjectData &otherObj = overlappingObjects[i]; + OverlappingObjectData &otherObj = overlappingObjects.write[i]; switch (otherObj.state) { case OVERLAP_STATE_ENTER: @@ -199,13 +199,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) { void AreaBullet::put_overlap_as_exit(int p_index) { scratch(); - overlappingObjects[p_index].state = OVERLAP_STATE_EXIT; + overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT; } void AreaBullet::put_overlap_as_inside(int p_index) { // This check is required to be sure this body was inside if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) { - overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE; + overlappingObjects.write[p_index].state = OVERLAP_STATE_INSIDE; } } @@ -236,7 +236,7 @@ void AreaBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant & set_spOv_gravityPointAttenuation(p_value); break; default: - print_line("The Bullet areas doesn't suppot this param: " + itos(p_param)); + WARN_PRINTS("Area doesn't support this parameter in the Bullet backend: " + itos(p_param)); } } @@ -259,7 +259,7 @@ Variant AreaBullet::get_param(PhysicsServer::AreaParameter p_param) const { case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION: return spOv_gravityPointAttenuation; default: - print_line("The Bullet areas doesn't suppot this param: " + itos(p_param)); + WARN_PRINTS("Area doesn't support this parameter in the Bullet backend: " + itos(p_param)); return Variant(); } } diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 6246a295ec..dbd27a3564 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -113,6 +113,10 @@ RID BulletPhysicsServer::shape_create(ShapeType p_shape) { shape = bulletnew(CapsuleShapeBullet); } break; + case SHAPE_CYLINDER: { + + shape = bulletnew(CylinderShapeBullet); + } break; case SHAPE_CONVEX_POLYGON: { shape = bulletnew(ConvexPolygonShapeBullet); @@ -159,13 +163,25 @@ Variant BulletPhysicsServer::shape_get_data(RID p_shape) const { return shape->get_data(); } +void BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + shape->set_margin(p_margin); +} + +real_t BulletPhysicsServer::shape_get_margin(RID p_shape) const { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, 0.0); + return shape->get_margin(); +} + real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const { //WARN_PRINT("Bias not supported by Bullet physics engine"); return 0.; } RID BulletPhysicsServer::space_create() { - SpaceBullet *space = bulletnew(SpaceBullet(false)); + SpaceBullet *space = bulletnew(SpaceBullet); CreateThenReturnRID(space_owner, space); } @@ -563,9 +579,6 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) { void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) { CollisionObjectBullet *body = get_collisin_object(p_body); - if (!body) { - body = soft_body_owner.get(p_body); - } ERR_FAIL_COND(!body); body->set_instance_id(p_ID); @@ -706,6 +719,34 @@ Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const { return body->get_applied_torque(); } +void BulletPhysicsServer::body_add_central_force(RID p_body, const Vector3 &p_force) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_central_force(p_force); +} + +void BulletPhysicsServer::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_force(p_force, p_pos); +} + +void BulletPhysicsServer::body_add_torque(RID p_body, const Vector3 &p_torque) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_torque(p_torque); +} + +void BulletPhysicsServer::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_central_impulse(p_impulse); +} + void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { RigidBodyBullet *body = rigid_body_owner.get(p_body); ERR_FAIL_COND(!body); @@ -832,12 +873,20 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) { return BulletPhysicsDirectBodyState::get_singleton(body); } -bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) { +bool BulletPhysicsServer::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) { RigidBodyBullet *body = rigid_body_owner.get(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); + return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); +} + +int BulletPhysicsServer::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) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + ERR_FAIL_COND_V(!body->get_space(), 0); + + return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); } RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { @@ -849,6 +898,13 @@ RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { CreateThenReturnRID(soft_body_owner, body); } +void BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->update_visual_server(p_visual_server_handler); +} + void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) { SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); @@ -875,11 +931,11 @@ RID BulletPhysicsServer::soft_body_get_space(RID p_body) const { return space->get_self(); } -void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) { +void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) { SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); - body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num); + body->set_soft_mesh(p_mesh); } void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { @@ -945,11 +1001,13 @@ void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RI } void BulletPhysicsServer::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - print_line("TODO MUST BE IMPLEMENTED"); + // FIXME: Must be implemented. + WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); } Variant BulletPhysicsServer::soft_body_get_state(RID p_body, BodyState p_state) const { - print_line("TODO MUST BE IMPLEMENTED"); + // FIXME: Must be implemented. + WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); return Variant(); } @@ -957,14 +1015,16 @@ void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); - body->set_transform(p_transform); + body->set_soft_transform(p_transform); } -Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const { +Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const { const SoftBodyBullet *body = soft_body_owner.get(p_body); - ERR_FAIL_COND_V(!body, Transform()); + Vector3 pos; + ERR_FAIL_COND_V(!body, pos); - return body->get_transform(); + body->get_node_position(vertex_index, pos); + return pos; } void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) { @@ -979,6 +1039,154 @@ bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const { return body->is_ray_pickable(); } +void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_simulation_precision(p_simulation_precision); +} + +int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_simulation_precision(); +} + +void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_total_mass(p_total_mass); +} + +real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_total_mass(); +} + +void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_linear_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_linear_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_areaAngular_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_areaAngular_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_volume_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_volume_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_pressure_coefficient(p_pressure_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_pressure_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + return body->set_pose_matching_coefficient(p_pose_matching_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_pose_matching_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_damping_coefficient(p_damping_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_damping_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_drag_coefficient(p_drag_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_drag_coefficient(); +} + +void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_node_position(p_point_index, p_global_position); +} + +Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.)); + Vector3 pos; + body->get_node_position(p_point_index, pos); + return pos; +} + +Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + Vector3 res; + body->get_node_offset(p_point_index, res); + return res; +} + +void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->reset_all_node_mass(); +} + +void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_node_mass(p_point_index, p_pin ? 0 : 1); +} + +bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_node_mass(p_point_index); +} + PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const { JointBullet *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint, JOINT_PIN); @@ -1233,7 +1441,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform ERR_FAIL_COND_V(body_A == body_B, RID()); - JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); + JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index e931915bba..e9c568d605 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -99,6 +99,9 @@ public: virtual ShapeType shape_get_type(RID p_shape) const; virtual Variant shape_get_data(RID p_shape) const; + virtual void shape_set_margin(RID p_shape, real_t p_margin); + virtual real_t shape_get_margin(RID p_shape) const; + /// Not supported virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); /// Not supported @@ -225,6 +228,11 @@ public: 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_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_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); @@ -253,16 +261,19 @@ public: // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); - virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL); + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, 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); /* SOFT BODY API */ virtual RID soft_body_create(bool p_init_sleeping = false); + virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_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 void soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num); + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh); 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; @@ -277,12 +288,49 @@ public: 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 Transform soft_body_get_transform(RID p_body) const; + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const; 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_simulation_precision(RID p_body, int p_simulation_precision); + virtual int soft_body_get_simulation_precision(RID p_body); + + 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_linear_stiffness(RID p_body, real_t p_stiffness); + virtual real_t soft_body_get_linear_stiffness(RID p_body); + + virtual void soft_body_set_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_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_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_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_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_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_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 Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const; + + 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); + /* JOINT API */ virtual JointType joint_get_type(RID p_joint) const; diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 57e4db708e..271cdb0223 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -111,6 +111,8 @@ 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) + return; bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true); if (space) space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); @@ -221,7 +223,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform } void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { - ShapeWrapper &shp = shapes[p_index]; + ShapeWrapper &shp = shapes.write[p_index]; shp.shape->remove_owner(this); p_shape->add_owner(this); shp.shape = p_shape; @@ -231,8 +233,8 @@ void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { ERR_FAIL_INDEX(p_index, get_shape_count()); - shapes[p_index].set_transform(p_transform); - on_shape_changed(shapes[p_index].shape); + shapes.write[p_index].set_transform(p_transform); + on_shape_changed(shapes.write[p_index].shape); } void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) { @@ -285,7 +287,7 @@ void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_sha const int size = shapes.size(); for (int i = 0; i < size; ++i) { if (shapes[i].shape == p_shape) { - bulletdelete(shapes[i].bt_shape); + bulletdelete(shapes.write[i].bt_shape); } } on_shapes_changed(); @@ -305,7 +307,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() { // Reset shape if required if (force_shape_reset) { for (i = 0; i < shapes_size; ++i) { - shpWrapper = &shapes[i]; + shpWrapper = &shapes.write[i]; bulletdelete(shpWrapper->bt_shape); } force_shape_reset = false; @@ -314,7 +316,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() { // Insert all shapes btVector3 body_scale(get_bt_body_scale()); for (i = 0; i < shapes_size; ++i) { - shpWrapper = &shapes[i]; + shpWrapper = &shapes.write[i]; if (shpWrapper->active) { if (!shpWrapper->bt_shape) { shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale); @@ -332,7 +334,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() { } void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { - shapes[p_index].active = !p_disabled; + shapes.write[p_index].active = !p_disabled; on_shapes_changed(); } @@ -346,7 +348,7 @@ void RigidCollisionObjectBullet::on_body_scale_changed() { } void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) { - ShapeWrapper &shp = shapes[p_index]; + ShapeWrapper &shp = shapes.write[p_index]; shp.shape->remove_owner(this, p_permanentlyFromThisBody); bulletdelete(shp.bt_shape); } diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index 472ad3b52c..ecacce0bee 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -64,26 +64,6 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet setup(coneConstraint); } -void ConeTwistJointBullet::set_angular_only(bool angularOnly) { - coneConstraint->setAngularOnly(angularOnly); -} - -void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) { - coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor); -} - -int ConeTwistJointBullet::get_solve_twist_limit() { - return coneConstraint->getSolveTwistLimit(); -} - -int ConeTwistJointBullet::get_solve_swing_limit() { - return coneConstraint->getSolveSwingLimit(); -} - -real_t ConeTwistJointBullet::get_twist_limit_sign() { - return coneConstraint->getTwistLimitSign(); -} - void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: @@ -103,7 +83,9 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value); break; default: - WARN_PRINT("This parameter is not supported by Bullet engine"); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED + break; } } @@ -120,7 +102,8 @@ real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_para case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: return coneConstraint->getRelaxationFactor(); default: - WARN_PRINT("This parameter is not supported by Bullet engine"); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED; return 0; } } diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index bd6eb49196..d6040fd6ec 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -47,14 +47,6 @@ public: virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; } - void set_angular_only(bool angularOnly); - - void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f); - int get_solve_twist_limit(); - - int get_solve_swing_limit(); - real_t get_twist_limit_sign(); - void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value); real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const; }; diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index adfad7803f..a36f1123bc 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -34,13 +34,13 @@ #include "bullet_utilities.h" #include "rigid_body_bullet.h" -#include <BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h> +#include <BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h> /** @author AndreaCatania */ -Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) : +Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : JointBullet() { Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); @@ -58,9 +58,9 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu btTransform btFrameB; G_TO_B(scaled_BFrame, btFrameB); - sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA)); + sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { - sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA)); + sixDOFConstraint = bulletnew(btGeneric6DofSpring2Constraint(*rbA->get_bt_rigid_body(), btFrameA)); } setup(sixDOFConstraint); @@ -123,20 +123,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO switch (p_param) { case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: limits_lower[0][p_axis] = p_value; - set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter + set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter break; case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: limits_upper[0][p_axis] = p_value; - set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter - break; - case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: - sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value; - break; - case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: - sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value; - break; - case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: - sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; + set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT]); // Reload bullet parameter break; case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value; @@ -146,23 +137,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO break; case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: limits_lower[1][p_axis] = p_value; - set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter + set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter break; case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: limits_upper[1][p_axis] = p_value; - set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter - break; - case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value; - break; - case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value; - break; - case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value; - break; - case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value; + set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter break; case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value; @@ -171,10 +150,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value; break; case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: - sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value; + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value; break; default: - WARN_PRINT("This parameter is not supported"); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED + break; } } @@ -185,12 +166,6 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 return limits_lower[0][p_axis]; case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: return limits_upper[0][p_axis]; - case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: - return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness; - case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: - return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution; - case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: - return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis]; case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: @@ -199,23 +174,18 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6 return limits_lower[1][p_axis]; case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: return limits_upper[1][p_axis]; - case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness; - case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping; case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce; - case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce; case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP; case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity; case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: - return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce; + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce; default: - WARN_PRINT("This parameter is not supported"); - return 0.; + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED; + return 0; } } @@ -246,8 +216,9 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag]; break; default: - WARN_PRINT("This flag is not supported by Bullet engine"); - return; + ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated"); + WARN_DEPRECATED + break; } } diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index ad06582eac..176127ed6c 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -40,7 +40,7 @@ class RigidBodyBullet; class Generic6DOFJointBullet : public JointBullet { - class btGeneric6DofConstraint *sixDOFConstraint; + class btGeneric6DofSpring2Constraint *sixDOFConstraint; // First is linear second is angular Vector3 limits_lower[2]; @@ -48,7 +48,7 @@ class Generic6DOFJointBullet : public JointBullet { bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX]; public: - Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA); + Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; } diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 197550d686..534034d707 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -30,6 +30,7 @@ #include "godot_result_callbacks.h" +#include "area_bullet.h" #include "bullet_types_converter.h" #include "collision_object_bullet.h" #include "rigid_body_bullet.h" @@ -51,11 +52,23 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); - if (m_pickRay && gObj->is_ray_pickable()) { - return true; - } else if (m_exclude->has(gObj->get_self())) { + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + + if (m_pickRay && !gObj->is_ray_pickable()) { + return false; + } + + if (m_exclude->has(gObj->get_self())) { return false; } + return true; } else { return false; @@ -124,6 +137,15 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) if (needs) { 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) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -144,6 +166,15 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co if (needs) { 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) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -189,6 +220,15 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr if (needs) { 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) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -218,6 +258,15 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy if (needs) { 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) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -260,10 +309,19 @@ void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 if (m_penetration_distance > depth) { // Has penetration? - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); m_penetration_distance = depth; m_other_compound_shape_index = isSwapped ? m_index0 : m_index1; - m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB; + + const btCollisionObjectWrapper *bw0 = m_body0Wrap; + if (isSwapped) + bw0 = m_body1Wrap; + + if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { + m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1); + } else { + m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; + } } } diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 363051f24c..3948f43c00 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -56,12 +56,17 @@ struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResult bool m_pickRay; int m_shapeId; + bool collide_with_bodies; + bool collide_with_areas; + public: - GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude) : + 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) {} + m_shapeId(0), + collide_with_bodies(p_collide_with_bodies), + collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -108,9 +113,14 @@ public: const Set<RID> *m_exclude; int m_shapeId; - GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude) : + bool collide_with_bodies; + bool collide_with_areas; + + 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_exclude(p_exclude), + collide_with_bodies(p_collide_with_bodies), + collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -125,12 +135,17 @@ public: int m_count; const Set<RID> *m_exclude; - GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) : + bool collide_with_bodies; + bool collide_with_areas; + + GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::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_exclude(p_exclude), m_resultMax(p_resultMax), - m_count(0) {} + m_count(0), + collide_with_bodies(p_collide_with_bodies), + collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -146,12 +161,17 @@ public: int m_count; const Set<RID> *m_exclude; - GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude) : + bool collide_with_bodies; + bool collide_with_areas; + + 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_exclude(p_exclude), m_resultMax(p_resultMax), - m_count(0) {} + m_count(0), + collide_with_bodies(p_collide_with_bodies), + collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; @@ -167,13 +187,17 @@ public: const btCollisionObject *m_rest_info_collision_object; btVector3 m_rest_info_bt_point; const Set<RID> *m_exclude; + bool collide_with_bodies; + bool collide_with_areas; - GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude) : + GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::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) {} + m_min_distance(0), + collide_with_bodies(p_collide_with_bodies), + collide_with_areas(p_collide_with_areas) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 97ea7ca3df..86c6a632cd 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -95,11 +95,6 @@ real_t HingeJointBullet::get_hinge_angle() { void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) { switch (p_param) { - case PhysicsServer::HINGE_JOINT_BIAS: - if (0 < p_value) { - print_line("The Bullet Hinge Joint doesn't support bias, So it's always 0"); - } - break; case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); break; @@ -122,7 +117,9 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t hingeConstraint->setMaxMotorImpulse(p_value); break; default: - WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param) + ", value: " + itos(p_value)); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED + break; } } @@ -146,7 +143,8 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return hingeConstraint->getMaxMotorImpulse(); default: - WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param)); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED; return 0; } } diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index c4e5b8cdbe..183a7e75b9 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -85,7 +85,8 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const { case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: return p2pConstraint->m_setting.m_impulseClamp; default: - WARN_PRINTS("This get parameter is not supported"); + ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); + WARN_DEPRECATED return 0; } } diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index b119b7720f..a76b0438b4 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -32,19 +32,26 @@ #include "bullet_physics_server.h" #include "class_db.h" +#include "project_settings.h" /** @author AndreaCatania */ +#ifndef _3D_DISABLED PhysicsServer *_createBulletPhysicsCallback() { return memnew(BulletPhysicsServer); } +#endif void register_bullet_types() { - +#ifndef _3D_DISABLED PhysicsServerManager::register_server("Bullet", &_createBulletPhysicsCallback); PhysicsServerManager::set_default_server("Bullet", 1); + + GLOBAL_DEF("physics/3d/active_soft_world", true); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/active_soft_world", PropertyInfo(Variant::BOOL, "physics/3d/active_soft_world")); +#endif } void unregister_bullet_types() { diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 2494063c22..9c0e802be5 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -126,6 +126,10 @@ void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) { body->apply_torque(p_torque); } +void BulletPhysicsDirectBodyState::apply_central_impulse(const Vector3 &p_j) { + body->apply_central_impulse(p_j); +} + void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); } @@ -154,6 +158,10 @@ Vector3 BulletPhysicsDirectBodyState::get_contact_local_normal(int p_contact_idx return body->collisions[p_contact_idx].hitNormal; } +float BulletPhysicsDirectBodyState::get_contact_impulse(int p_contact_idx) const { + return body->collisions[p_contact_idx].appliedImpulse; +} + int BulletPhysicsDirectBodyState::get_contact_local_shape(int p_contact_idx) const { return body->collisions[p_contact_idx].local_shape; } @@ -175,7 +183,7 @@ int BulletPhysicsDirectBodyState::get_contact_collider_shape(int p_contact_idx) } Vector3 BulletPhysicsDirectBodyState::get_contact_collider_velocity_at_position(int p_contact_idx) const { - RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx]; + RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx]; btVector3 hitLocation; G_TO_B(colDat.hitLocalLocation, hitLocation); @@ -220,19 +228,20 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { continue; } - shapes[i].transform = shape_wrapper->transform; - shapes[i].transform.getOrigin() *= owner_scale; + shapes.write[i].transform = shape_wrapper->transform; + shapes.write[i].transform.getOrigin() *= owner_scale; switch (shape_wrapper->shape->get_type()) { case PhysicsServer::SHAPE_SPHERE: case PhysicsServer::SHAPE_BOX: case PhysicsServer::SHAPE_CAPSULE: + case PhysicsServer::SHAPE_CYLINDER: case PhysicsServer::SHAPE_CONVEX_POLYGON: case PhysicsServer::SHAPE_RAY: { - shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); + shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); } break; default: WARN_PRINT("This shape is not supported to be kinematic!"); - shapes[i].shape = NULL; + shapes.write[i].shape = NULL; } } } @@ -240,7 +249,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) { for (int i = shapes.size() - 1; 0 <= i; --i) { if (shapes[i].shape) { - bulletdelete(shapes[i].shape); + bulletdelete(shapes.write[i].shape); } } shapes.resize(new_size); @@ -280,7 +289,7 @@ RigidBodyBullet::RigidBodyBullet() : areasWhereIam.resize(maxAreasWhereIam); for (int i = areasWhereIam.size() - 1; 0 <= i; --i) { - areasWhereIam[i] = NULL; + areasWhereIam.write[i] = NULL; } btBody->setSleepingThresholds(0.2, 0.2); } @@ -400,17 +409,18 @@ void RigidBodyBullet::on_collision_checker_start() { collisionsCount = 0; } -bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, 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 float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { if (collisionsCount >= maxCollisionsDetection) { return false; } - CollisionData &cd = collisions[collisionsCount]; + CollisionData &cd = collisions.write[collisionsCount]; cd.hitLocalLocation = p_hitLocalLocation; cd.otherObject = p_otherObject; cd.hitWorldLocation = p_hitWorldLocation; cd.hitNormal = p_hitNormal; + cd.appliedImpulse = p_appliedImpulse; cd.other_object_shape = p_other_shape_index; cd.local_shape = p_local_shape_index; @@ -794,15 +804,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { if (NULL == areasWhereIam[i]) { // This area has the highest priority - areasWhereIam[i] = p_area; + areasWhereIam.write[i] = p_area; break; } 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[j + 1] = areasWhereIam[j]; + areasWhereIam.write[j + 1] = areasWhereIam[j]; } - areasWhereIam[i] = p_area; + areasWhereIam.write[i] = p_area; break; } } @@ -826,7 +836,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { if (p_area == areasWhereIam[i]) { // The area was fount, just shift down all elements for (int j = i; j < areaWhereIamCount; ++j) { - areasWhereIam[j] = areasWhereIam[j + 1]; + areasWhereIam.write[j] = areasWhereIam[j + 1]; } wasTheAreaFound = true; break; @@ -839,7 +849,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } --areaWhereIamCount; - areasWhereIam[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe + areasWhereIam.write[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) { scratch_space_override_modificator(); } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index b9511243c7..f03009bce9 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -113,6 +113,7 @@ public: 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_j); virtual void apply_torque_impulse(const Vector3 &p_j); @@ -123,6 +124,7 @@ public: 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 RID get_contact_collider(int p_contact_idx) const; @@ -149,6 +151,7 @@ public: Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; + float appliedImpulse; }; struct ForceIntegrationCallback { @@ -248,7 +251,7 @@ 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, 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 float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); void assert_no_constraints(); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index 76d9614465..cc7d106496 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -44,19 +44,20 @@ @author AndreaCatania */ -ShapeBullet::ShapeBullet() {} +ShapeBullet::ShapeBullet() : + margin(0.04) {} ShapeBullet::~ShapeBullet() {} -btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 s; G_TO_B(p_implicit_scale, s); - return create_bt_shape(s, p_margin); + return create_bt_shape(s, p_extra_edge); } btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); - p_btShape->setMargin(0.); + p_btShape->setMargin(margin); return p_btShape; } @@ -93,6 +94,15 @@ const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const { return owners; } +void ShapeBullet::set_margin(real_t p_margin) { + margin = p_margin; + notifyShapeChanged(); +} + +real_t ShapeBullet::get_margin() const { + return margin; +} + btEmptyShape *ShapeBullet::create_shape_empty() { return bulletnew(btEmptyShape); } @@ -113,6 +123,10 @@ btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar hei return bulletnew(btCapsuleShapeZ(radius, height)); } +btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) { + return bulletnew(btCylinderShape(btVector3(radius, height / 2.0, radius))); +} + btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) { return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling)); } @@ -162,7 +176,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) { notifyShapeChanged(); } -btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 btPlaneNormal; G_TO_B(plane.normal, btPlaneNormal); return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); @@ -190,8 +204,8 @@ void SphereShapeBullet::setup(real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin)); +btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge)); } /* Box */ @@ -217,8 +231,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) { notifyShapeChanged(); } -btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin))); +btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge))); } /* Capsule */ @@ -250,8 +264,41 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); +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)); +} + +/* Cylinder */ + +CylinderShapeBullet::CylinderShapeBullet() : + ShapeBullet() {} + +void CylinderShapeBullet::set_data(const Variant &p_data) { + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("radius")); + ERR_FAIL_COND(!d.has("height")); + setup(d["height"], d["radius"]); +} + +Variant CylinderShapeBullet::get_data() const { + Dictionary d; + d["radius"] = radius; + d["height"] = height; + return d; +} + +PhysicsServer::ShapeType CylinderShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CYLINDER; +} + +void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) { + radius = p_radius; + height = p_height; + notifyShapeChanged(); +} + +btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { + return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); } /* Convex polygon */ @@ -267,7 +314,7 @@ void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) { const int n_of_vertices = vertices.size(); out_vertices.resize(n_of_vertices); for (int i = n_of_vertices - 1; 0 <= i; --i) { - B_TO_G(vertices[i], out_vertices[i]); + B_TO_G(vertices[i], out_vertices.write[i]); } } @@ -292,11 +339,13 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { notifyShapeChanged(); } -btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + if (!vertices.size()) + // This is necessary since 0 vertices + return prepare(ShapeBullet::create_shape_empty()); btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices)); cs->setLocalScaling(p_implicit_scale); prepare(cs); - cs->setMargin(p_margin); return cs; } @@ -365,14 +414,13 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { notifyShapeChanged(); } -btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); if (!cs) // This is necessary since if 0 faces the creation of concave return NULL cs = ShapeBullet::create_shape_empty(); cs->setLocalScaling(p_implicit_scale); prepare(cs); - cs->setMargin(p_margin); return cs; } @@ -458,11 +506,10 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int notifyShapeChanged(); } -btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); - cs->setMargin(p_margin); return cs; } @@ -496,6 +543,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { notifyShapeChanged(); } -btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope)); +btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope)); } diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index abeea0f9ce..638e044e6a 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -52,6 +52,7 @@ class btBvhTriangleMeshShape; class ShapeBullet : public RIDBullet { Map<ShapeOwnerBullet *, int> owners; + real_t margin; protected: /// return self @@ -62,14 +63,17 @@ public: ShapeBullet(); virtual ~ShapeBullet(); - btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin = 0); - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0) = 0; + btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; void add_owner(ShapeOwnerBullet *p_owner); void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false); bool is_owner(ShapeOwnerBullet *p_owner) const; const Map<ShapeOwnerBullet *, int> &get_owners() const; + void set_margin(real_t p_margin); + real_t get_margin() const; + /// Setup the shape virtual void set_data(const Variant &p_data) = 0; virtual Variant get_data() const = 0; @@ -82,6 +86,7 @@ public: static class btSphereShape *create_shape_sphere(btScalar radius); static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents); static class btCapsuleShapeZ *create_shape_capsule(btScalar radius, btScalar height); + static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height); /// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface(); static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); @@ -99,7 +104,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Plane &p_plane); @@ -116,7 +121,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_radius); @@ -133,7 +138,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector3 &p_half_extents); @@ -152,6 +157,25 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + +private: + void setup(real_t p_height, real_t p_radius); +}; + +class CylinderShapeBullet : public ShapeBullet { + + real_t height; + real_t radius; + +public: + CylinderShapeBullet(); + + _FORCE_INLINE_ real_t get_height() { return height; } + _FORCE_INLINE_ real_t get_radius() { return radius; } + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: @@ -169,7 +193,7 @@ public: void get_vertices(Vector<Vector3> &out_vertices); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector<Vector3> &p_vertices); @@ -187,7 +211,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(PoolVector<Vector3> p_faces); @@ -207,7 +231,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); @@ -224,7 +248,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_length, bool p_slips_on_slope); diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 5c20eb73f1..9fc7230f91 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -32,42 +32,24 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" -#include "scene/3d/immediate_geometry.h" +#include "scene/3d/soft_body.h" #include "space_bullet.h" -/** - @author AndreaCatania -*/ - SoftBodyBullet::SoftBodyBullet() : CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), - mass(1), + total_mass(1), simulation_precision(5), - stiffness(0.5f), - pressure_coefficient(50), - damping_coefficient(0.005), - drag_coefficient(0.005), + 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.), bt_soft_body(NULL), - soft_shape_type(SOFT_SHAPETYPE_NONE), - isScratched(false), - soft_body_shape_data(NULL) { - - test_geometry = memnew(ImmediateGeometry); - - red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial)); - red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true); - red_mat->set_line_width(20.0); - red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); - red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); - red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true); - red_mat->set_albedo(Color(1, 0, 0, 1)); - test_geometry->set_material_override(red_mat); - - test_is_in_scene = false; -} + isScratched(false) {} SoftBodyBullet::~SoftBodyBullet() { - bulletdelete(soft_body_shape_data); } void SoftBodyBullet::reload_body() { @@ -80,8 +62,6 @@ void SoftBodyBullet::reload_body() { void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { isScratched = false; - - // Remove this object from the physics world space->remove_soft_body(this); } @@ -90,86 +70,181 @@ void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { space->add_soft_body(this); } - - reload_soft_body(); } -void SoftBodyBullet::dispatch_callbacks() { - if (!bt_soft_body) { +void SoftBodyBullet::dispatch_callbacks() {} + +void SoftBodyBullet::on_collision_filters_change() {} + +void SoftBodyBullet::on_collision_checker_start() {} + +void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {} + +void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {} + +void SoftBodyBullet::update_visual_server(SoftBodyVisualServerHandler *p_visual_server_handler) { + if (!bt_soft_body) return; + + /// Update visual server vertices + const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes); + const int nodes_count = nodes.size(); + + const Vector<int> *vs_indices; + const void *vertex_position; + const void *vertex_normal; + + for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) { + vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x); + vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n); + + vs_indices = &indices_table[vertex_index]; + + const int vs_indices_size(vs_indices->size()); + for (int x = 0; x < vs_indices_size; ++x) { + p_visual_server_handler->set_vertex((*vs_indices)[x], vertex_position); + p_visual_server_handler->set_normal((*vs_indices)[x], vertex_normal); + } } - if (!test_is_in_scene) { - test_is_in_scene = true; - SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry); + /// Generate 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); + + p_visual_server_handler->set_aabb(aabb); +} + +void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) { + + if (p_mesh.is_null()) + soft_mesh.unref(); + else + soft_mesh = p_mesh; + + if (soft_mesh.is_null()) { + + destroy_soft_body(); + return; } - test_geometry->clear(); - test_geometry->begin(Mesh::PRIMITIVE_LINES, NULL); - bool first = true; - Vector3 pos; - for (int i = 0; i < bt_soft_body->m_nodes.size(); ++i) { - const btSoftBody::Node &n = bt_soft_body->m_nodes[i]; - B_TO_G(n.m_x, pos); - test_geometry->add_vertex(pos); - if (!first) { - test_geometry->add_vertex(pos); - } else { - first = false; - } + Array arrays = soft_mesh->surface_get_arrays(0); + ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & VS::ARRAY_FORMAT_INDEX)); + set_trimesh_body_shape(arrays[VS::ARRAY_INDEX], arrays[VS::ARRAY_VERTEX]); +} + +void SoftBodyBullet::destroy_soft_body() { + + if (!bt_soft_body) + return; + + if (space) { + /// Remove from world before deletion + space->remove_soft_body(this); } - test_geometry->end(); + + destroyBulletCollisionObject(); + bt_soft_body = NULL; +} + +void SoftBodyBullet::set_soft_transform(const Transform &p_transform) { + reset_all_node_positions(); + move_all_nodes(p_transform); } -void SoftBodyBullet::on_collision_filters_change() { +void SoftBodyBullet::move_all_nodes(const Transform &p_transform) { + if (!bt_soft_body) + return; + btTransform bt_transf; + G_TO_B(p_transform, bt_transf); + bt_soft_body->transform(bt_transf); } -void SoftBodyBullet::on_collision_checker_start() { +void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) { + btVector3 bt_pos; + G_TO_B(p_global_position, bt_pos); + set_node_position(p_node_index, bt_pos); } -void SoftBodyBullet::on_enter_area(AreaBullet *p_area) { +void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) { + if (bt_soft_body) { + bt_soft_body->m_nodes[p_node_index].m_x = p_global_position; + } } -void SoftBodyBullet::on_exit_area(AreaBullet *p_area) { +void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const { + if (bt_soft_body) { + B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position); + } } -void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) { +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); + PoolVector<Vector3> vertices(arrays[VS::ARRAY_VERTEX]); - TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData); - shape_data->m_triangles_indices = p_indices; - shape_data->m_vertices = p_vertices; - shape_data->m_triangles_num = p_triangles_num; + if (0 <= p_node_index && vertices.size() > p_node_index) { + r_offset = vertices[p_node_index]; + } +} - set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH); - reload_soft_body(); +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_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type) { - bulletdelete(soft_body_shape_data); - soft_body_shape_data = p_soft_shape_data; - soft_shape_type = p_type; +void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) { + if (0 >= p_mass) { + pin_node(node_index); + } else { + unpin_node(node_index); + } + if (bt_soft_body) { + bt_soft_body->setMass(node_index, p_mass); + } } -void SoftBodyBullet::set_transform(const Transform &p_transform) { - transform = p_transform; +btScalar SoftBodyBullet::get_node_mass(int node_index) const { if (bt_soft_body) { - // TODO the softbody set new transform considering the current transform as center of world - // like if it's local transform, so I must fix this by setting nwe transform considering the old - btTransform bt_trans; - G_TO_B(transform, bt_trans); - //bt_soft_body->transform(bt_trans); + return bt_soft_body->getMass(node_index); + } else { + return -1 == search_node_pinned(node_index) ? 1 : 0; } } -const Transform &SoftBodyBullet::get_transform() const { - return transform; +void SoftBodyBullet::reset_all_node_mass() { + if (bt_soft_body) { + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + bt_soft_body->setMass(pinned_nodes[i], 1); + } + } + pinned_nodes.resize(0); } -void SoftBodyBullet::get_first_node_origin(btVector3 &p_out_origin) const { - if (bt_soft_body && bt_soft_body->m_nodes.size()) { - p_out_origin = bt_soft_body->m_nodes[0].m_x; - } else { - p_out_origin.setZero(); +void SoftBodyBullet::reset_all_node_positions() { + if (soft_mesh.is_null()) + return; + + Array arrays = soft_mesh->surface_get_arrays(0); + PoolVector<Vector3> vs_vertices(arrays[VS::ARRAY_VERTEX]); + PoolVector<Vector3>::Read vs_vertices_read = vs_vertices.read(); + + 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; + bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0); + bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0); } } @@ -181,22 +256,34 @@ void SoftBodyBullet::set_activation_state(bool p_active) { } } -void SoftBodyBullet::set_mass(real_t p_val) { +void SoftBodyBullet::set_total_mass(real_t p_val) { if (0 >= p_val) { p_val = 1; } - mass = p_val; + total_mass = p_val; if (bt_soft_body) { - bt_soft_body->setTotalMass(mass); + bt_soft_body->setTotalMass(total_mass); } } -void SoftBodyBullet::set_stiffness(real_t p_val) { - stiffness = p_val; +void SoftBodyBullet::set_linear_stiffness(real_t p_val) { + linear_stiffness = p_val; if (bt_soft_body) { - mat0->m_kAST = stiffness; - mat0->m_kLST = stiffness; - mat0->m_kVST = stiffness; + mat0->m_kLST = linear_stiffness; + } +} + +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; } } @@ -204,6 +291,9 @@ void SoftBodyBullet::set_simulation_precision(int p_val) { simulation_precision = p_val; if (bt_soft_body) { bt_soft_body->m_cfg.piterations = simulation_precision; + bt_soft_body->m_cfg.viterations = simulation_precision; + bt_soft_body->m_cfg.diterations = simulation_precision; + bt_soft_body->m_cfg.citerations = simulation_precision; } } @@ -214,6 +304,13 @@ 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) { @@ -228,89 +325,156 @@ void SoftBodyBullet::set_drag_coefficient(real_t p_val) { } } -void SoftBodyBullet::reload_soft_body() { - +void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices) { + /// Assert the current soft body is destroyed destroy_soft_body(); - create_soft_body(); - if (bt_soft_body) { + /// Parse visual server indices to physical indices. + /// Merge all overlapping vertices and create a map of physical vertices to visual server - // TODO the softbody set new transform considering the current transform as center of world - // like if it's local transform, so I must fix this by setting nwe transform considering the old - btTransform bt_trans; - G_TO_B(transform, bt_trans); - bt_soft_body->transform(bt_trans); + { + /// This is the map of visual server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map + Vector<int> vs_indices_to_physics_table; - bt_soft_body->generateBendingConstraints(2, mat0); - mat0->m_kAST = stiffness; - mat0->m_kLST = stiffness; - mat0->m_kVST = stiffness; + { // Map vertices + indices_table.resize(0); - bt_soft_body->m_cfg.piterations = simulation_precision; - 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->setTotalMass(mass); - } - if (space) { - // TODO remove this please - space->add_soft_body(this); - } -} + int index = 0; + Map<Vector3, int> unique_vertices; -void SoftBodyBullet::create_soft_body() { - if (!space || !soft_body_shape_data) { - return; - } - ERR_FAIL_COND(!space->is_using_soft_world()); - switch (soft_shape_type) { - case SOFT_SHAPE_TYPE_TRIMESH: { - TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data); - - Vector<int> indices; - Vector<btScalar> vertices; - - int i; - const int indices_size = trimesh_data->m_triangles_indices.size(); - const int vertices_size = trimesh_data->m_vertices.size(); - indices.resize(indices_size); - vertices.resize(vertices_size * 3); - - PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read(); - for (i = 0; i < indices_size; ++i) { - indices[i] = i_r[i]; + const int vs_vertices_size(p_vertices.size()); + + PoolVector<Vector3>::Read p_vertices_read = p_vertices.read(); + + 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 + vertex_id = e->value(); + } else { + // Create new one + unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++; + indices_table.push_back(Vector<int>()); + } + + indices_table.write[vertex_id].push_back(vs_vertex_index); + vs_indices_to_physics_table.push_back(vertex_id); + } + } + + const int indices_map_size(indices_table.size()); + + Vector<btScalar> bt_vertices; + + { // Parse vertices to bullet + + bt_vertices.resize(indices_map_size * 3); + PoolVector<Vector3>::Read p_vertices_read = p_vertices.read(); + + for (int i = 0; i < indices_map_size; ++i) { + bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x; + bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y; + bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z; } - i_r = PoolVector<int>::Read(); + } + + Vector<int> bt_triangles; + const int triangles_size(p_indices.size() / 3); + + { // Parse indices + + bt_triangles.resize(triangles_size * 3); + + PoolVector<int>::Read p_indices_read = p_indices.read(); - PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read(); - for (int j = i = 0; i < vertices_size; ++i, j += 3) { - vertices[j + 0] = f_r[i][0]; - vertices[j + 1] = f_r[i][1]; - vertices[j + 2] = f_r[i][2]; + for (int i = 0; i < triangles_size; ++i) { + bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]]; + bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]]; + bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]]; } - f_r = PoolVector<Vector3>::Read(); + } - bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num); - } break; - default: - ERR_PRINT("Shape type not supported"); - return; + btSoftBodyWorldInfo fake_world_info; + bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false); + setup_soft_body(); } +} + +void SoftBodyBullet::setup_soft_body() { + + if (!bt_soft_body) + return; + // Soft body setup setupBulletCollisionObject(bt_soft_body); - bt_soft_body->getCollisionShape()->setMargin(0.001f); + bt_soft_body->m_worldInfo = NULL; // Remove fake world info + bt_soft_body->getCollisionShape()->setMargin(0.01); bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT))); + + // Space setup + if (space) { + space->add_soft_body(this); + } + mat0 = bt_soft_body->appendMaterial(); + + // Assign soft body data + 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 + + //bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS; + //bt_soft_body->generateClusters(64); + + bt_soft_body->m_cfg.piterations = simulation_precision; + bt_soft_body->m_cfg.viterations = simulation_precision; + bt_soft_body->m_cfg.diterations = simulation_precision; + bt_soft_body->m_cfg.citerations = simulation_precision; + 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); + bt_soft_body->updateBounds(); + + // Set pinned nodes + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + bt_soft_body->setMass(pinned_nodes[i], 0); + } } -void SoftBodyBullet::destroy_soft_body() { - if (space) { - /// This step is required to assert that the body is not into the world during deletion - /// This step is required since to change the body shape the body must be re-created. - /// Here is handled the case when the body is assigned into a world and the body - /// shape is changed. - space->remove_soft_body(this); +void SoftBodyBullet::pin_node(int p_node_index) { + if (-1 == search_node_pinned(p_node_index)) { + pinned_nodes.push_back(p_node_index); } - destroyBulletCollisionObject(); - bt_soft_body = NULL; +} + +void SoftBodyBullet::unpin_node(int p_node_index) { + const int id = search_node_pinned(p_node_index); + if (-1 != id) { + pinned_nodes.remove(id); + } +} + +int SoftBodyBullet::search_node_pinned(int p_node_index) const { + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + if (p_node_index == pinned_nodes[i]) { + return i; + } + } + return -1; } diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index 9895643b84..c775193584 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -40,7 +40,10 @@ #define x11_None 0L #endif -#include <BulletSoftBody/btSoftBodyHelpers.h> +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "collision_object_bullet.h" +#include "scene/resources/mesh.h" +#include "servers/physics_server.h" #ifdef x11_None /// This is required to re add the macro None defined by x11 compiler @@ -52,39 +55,34 @@ @author AndreaCatania */ -struct SoftShapeData {}; -struct TrimeshSoftShapeData : public SoftShapeData { - PoolVector<int> m_triangles_indices; - PoolVector<Vector3> m_vertices; - int m_triangles_num; -}; - class SoftBodyBullet : public CollisionObjectBullet { -public: - enum SoftShapeType { - SOFT_SHAPETYPE_NONE = 0, - SOFT_SHAPE_TYPE_TRIMESH - }; private: btSoftBody *bt_soft_body; + Vector<Vector<int> > indices_table; btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody - SoftShapeType soft_shape_type; bool isScratched; - SoftShapeData *soft_body_shape_data; + Ref<Mesh> soft_mesh; - Transform transform; int simulation_precision; - real_t mass; - real_t stiffness; // [0,1] + 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] + Vector<int> pinned_nodes; - class ImmediateGeometry *test_geometry; // TODO remove this please - Ref<SpatialMaterial> red_mat; // TODO remove this please - bool test_is_in_scene; // TODO remove this please + // Other property to add + //btScalar kVC; // Volume conversation coefficient [0,+inf] + //btScalar kDF; // Dynamic friction coefficient [0,1] + //btScalar kMT; // Pose matching coefficient [0,1] + //btScalar kCHR; // Rigid contacts hardness [0,1] + //btScalar kKHR; // Kinetic contacts hardness [0,1] + //btScalar kSHR; // Soft contacts hardness [0,1] public: SoftBodyBullet(); @@ -101,39 +99,64 @@ public: _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } - void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num); - void set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type); + void update_visual_server(class SoftBodyVisualServerHandler *p_visual_server_handler); - void set_transform(const Transform &p_transform); - /// This function doesn't return the exact COM transform. - /// It returns the origin only of first node (vertice) of current soft body - /// --- - /// The soft body doesn't have a fixed center of mass, but is a group of nodes (vertices) - /// that each has its own position in the world. - /// For this reason return the correct COM is not so simple and must be calculate - /// Check this to improve this function http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=8803 - const Transform &get_transform() const; - void get_first_node_origin(btVector3 &p_out_origin) const; + 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 move_all_nodes(const Transform &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; + void reset_all_node_mass(); + void reset_all_node_positions(); void set_activation_state(bool p_active); - void set_mass(real_t p_val); - _FORCE_INLINE_ real_t get_mass() const { return mass; } - void set_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_stiffness() const { return stiffness; } + void set_total_mass(real_t p_val); + _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } + + 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; } + void set_drag_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } private: - void reload_soft_body(); - void create_soft_body(); - void destroy_soft_body(); + void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices); + void setup_soft_body(); + + void pin_node(int p_node_index); + void unpin_node(int p_node_index); + int search_node_pinned(int p_node_index) const; }; #endif // SOFT_BODY_BULLET_H diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 971fd39509..e8e6fc4d07 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -36,6 +36,7 @@ #include "constraint_bullet.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" +#include "project_settings.h" #include "rigid_body_bullet.h" #include "servers/physics_server.h" #include "soft_body_bullet.h" @@ -60,7 +61,7 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac PhysicsDirectSpaceState(), 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) { +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) return 0; @@ -68,13 +69,13 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape btVector3 bt_point; G_TO_B(p_point, bt_point); - btSphereShape sphere_point(0.f); + btSphereShape sphere_point(0.001f); btCollisionObject collision_object_point; collision_object_point.setCollisionShape(&sphere_point); collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point)); // Setup query - GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude); + GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; space->dynamicsWorld->contactTest(&collision_object_point, btResult); @@ -83,7 +84,7 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape 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_pick_ray) { +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; @@ -92,7 +93,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V G_TO_B(p_to, btVec_to); // setup query - GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude); + GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas); btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; btResult.m_pickRay = p_pick_ray; @@ -116,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) { +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) return 0; @@ -138,7 +139,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra collision_object.setCollisionShape(btConvex); collision_object.setWorldTransform(bt_xform); - GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude); + GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); btQuery.m_collisionFilterGroup = 0; btQuery.m_collisionFilterMask = p_collision_mask; btQuery.m_closestDistanceThreshold = 0; @@ -149,7 +150,7 @@ 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 &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_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) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); @@ -170,14 +171,16 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btTransform bt_xform_to(bt_xform_from); bt_xform_to.getOrigin() += bt_motion; - GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude); + 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, 0.002); if (btResult.hasHit()) { - p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction; + const btScalar l = bt_motion.length(); + p_closest_unsafe = btResult.m_closestHitFraction; + p_closest_safe = MAX(p_closest_unsafe - (1 - ((l - 0.01) / l)), 0); if (r_info) { if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) { B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity); @@ -196,7 +199,7 @@ 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 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; @@ -218,7 +221,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & collision_object.setCollisionShape(btConvex); collision_object.setWorldTransform(bt_xform); - GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude); + GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); btQuery.m_collisionFilterGroup = 0; btQuery.m_collisionFilterMask = p_collision_mask; btQuery.m_closestDistanceThreshold = 0; @@ -230,7 +233,7 @@ 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 BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); @@ -250,7 +253,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh collision_object.setCollisionShape(btConvex); collision_object.setWorldTransform(bt_xform); - GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude); + GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas); btQuery.m_collisionFilterGroup = 0; btQuery.m_collisionFilterMask = p_collision_mask; btQuery.m_closestDistanceThreshold = 0; @@ -325,7 +328,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ } } -SpaceBullet::SpaceBullet(bool p_create_soft_world) : +SpaceBullet::SpaceBullet() : broadphase(NULL), dispatcher(NULL), solver(NULL), @@ -338,7 +341,7 @@ SpaceBullet::SpaceBullet(bool p_create_soft_world) : gravityMagnitude(10), contactDebugCount(0) { - create_empty_world(p_create_soft_world); + create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true)); direct_access = memnew(BulletPhysicsDirectSpaceState(this)); } @@ -355,6 +358,7 @@ void SpaceBullet::flush_queries() { } void SpaceBullet::step(real_t p_delta_time) { + delta_time = p_delta_time; dynamicsWorld->stepSimulation(p_delta_time, 0, 0); } @@ -483,6 +487,7 @@ void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) { if (is_using_soft_world()) { if (p_body->get_bt_soft_body()) { + p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info(); static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); } } else { @@ -494,6 +499,7 @@ void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) { if (is_using_soft_world()) { if (p_body->get_bt_soft_body()) { static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body()); + p_body->get_bt_soft_body()->m_worldInfo = NULL; } } } @@ -549,7 +555,13 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { } btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) { - return MAX(body0->getRestitution(), body1->getRestitution()); + + 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) { @@ -585,6 +597,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { ghostPairCallback = bulletnew(btGhostPairCallback); godotFilterCallback = bulletnew(GodotFilterCallback); gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution; + gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction; dynamicsWorld->setWorldUserInfo(this); @@ -629,7 +642,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { /// Algorithm support variables - btConvexShape *other_body_shape; + btCollisionShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; AreaBullet *area; @@ -645,7 +658,7 @@ void SpaceBullet::check_ghost_overlaps() { /// 1. Reset all states for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) { - AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i]; + AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i]; // This check prevent the overwrite of ENTER state // if this function is called more times before dispatchCallbacks if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) { @@ -681,20 +694,42 @@ void SpaceBullet::check_ghost_overlaps() { // For each other object shape for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) { - if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex()) - continue; - - other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z)); + other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z)); gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z); - btPointCollector result; - btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + if (other_body_shape->isConvex()) { + + btPointCollector result; + btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + + if (0 >= result.m_distance) { + hasOverlap = true; + goto collision_found; + } + + } else { + + btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); + btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); + + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); + + if (!algorithm) + continue; - if (0 >= result.m_distance) { - hasOverlap = true; - goto collision_found; + GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); + algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); + + algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(algorithm); + + if (contactPointResult.hasHit()) { + hasOverlap = true; + goto collision_found; + } } + } // ~For each other object shape } // ~For each area shape @@ -754,19 +789,20 @@ void SpaceBullet::check_body_collision() { Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; + float appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); 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, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); } 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, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); } #ifdef DEBUG_ENABLED @@ -807,7 +843,7 @@ static Ref<SpatialMaterial> red_mat; static Ref<SpatialMaterial> blue_mat; #endif -bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) { +bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) { #if debug_test_motion /// Yes I know this is not good, but I've used it as fast debugging hack. @@ -882,6 +918,12 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f // Skip no convex shape continue; } + + if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { + // Skip rayshape in order to implement custom separation process + continue; + } + btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex))); btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform; @@ -912,11 +954,11 @@ 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, 0, p_infinite_inertia, __rec, &r_recover_result); + has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result); // Parse results if (r_result) { - B_TO_G(motion + initial_recover_motion, r_result->motion); + B_TO_G(motion + initial_recover_motion + __rec, r_result->motion); if (has_penetration) { @@ -952,6 +994,39 @@ 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, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin) { + + btTransform body_transform; + G_TO_B(p_transform, body_transform); + UNSCALE_BT_BASIS(body_transform); + + btVector3 recover_motion(0, 0, 0); + + int rays_found = 0; + + for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { + int last_ray_index = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max, recover_motion, r_results); + + rays_found = MAX(last_ray_index, rays_found); + if (!rays_found) { + break; + } else { + body_transform.getOrigin() += recover_motion; + } + } + + //optimize results (remove non colliding) + for (int i = 0; i < rays_found; i++) { + if (r_results[i].collision_depth >= 0) { + rays_found--; + SWAP(r_results[i], r_results[rays_found]); + } + } + + B_TO_G(recover_motion, r_recover_motion); + return rays_found; +} + struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback { private: const btCollisionObject *self_collision_object; @@ -1008,6 +1083,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran continue; } + if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { + // Skip rayshape in order to implement custom separation process + continue; + } + body_shape_position = p_body_position * kin_shape.transform; body_shape_position_recovered = body_shape_position; body_shape_position_recovered.getOrigin() += r_delta_recover_movement; @@ -1110,7 +1190,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC if (contactPointResult.hasHit()) { r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale); - if (r_recover_result) { if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) { r_recover_result->hasPenetration = true; @@ -1126,3 +1205,79 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC } return false; } + +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, PhysicsServer::SeparationResult *r_results) { + + RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask()); + + btTransform body_shape_position; + btTransform body_shape_position_recovered; + + // Broad phase support + btVector3 minAabb, maxAabb; + + int ray_index = 0; + + // For each shape + for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { + + recover_broad_result.reset(); + + if (ray_index >= p_result_max) { + break; + } + + const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); + if (!kin_shape.is_active()) { + continue; + } + + if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) { + continue; + } + + body_shape_position = p_body_position * kin_shape.transform; + body_shape_position_recovered = body_shape_position; + body_shape_position_recovered.getOrigin() += r_delta_recover_movement; + + kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb); + dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result); + + for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) { + btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i]; + if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) { + otherObject->activate(); // Force activation of hitten rigid, soft body + continue; + } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) + continue; + + if (otherObject->getCollisionShape()->isCompound()) { + + // Each convex shape + btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape()); + for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) { + + RecoverResult r_recover_result; + if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &r_recover_result)) { + + const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject); + CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer()); + + r_results[ray_index].collision_depth = r_recover_result.penetration_distance; + B_TO_G(r_recover_result.pointWorld, r_results[ray_index].collision_point); + B_TO_G(r_recover_result.normal, r_results[ray_index].collision_normal); + B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_results[ray_index].collider_velocity); + r_results[ray_index].collision_local_shape = kinIndex; + r_results[ray_index].collider_id = collisionObject->get_instance_id(); + r_results[ray_index].collider = collisionObject->get_self(); + r_results[ray_index].collider_shape = r_recover_result.other_compound_shape_index; + } + } + } + } + + ++ray_index; + } + + return ray_index; +} diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index a6c2786878..517ec67ffa 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -73,18 +73,18 @@ 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); - 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_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); - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, ShapeRestInfo *r_info = NULL); + 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 &p_closest_safe, float &p_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 = NULL); /// 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); - 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); + 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; }; class SpaceBullet : public RIDBullet { -private: + friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; @@ -109,12 +109,14 @@ private: Vector<Vector3> contactDebug; int contactDebugCount; + real_t delta_time; public: - SpaceBullet(bool p_create_soft_world); + SpaceBullet(); virtual ~SpaceBullet(); void flush_queries(); + real_t get_delta_time() { return delta_time; } void step(real_t p_delta_time); _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; } @@ -162,7 +164,7 @@ public: contactDebugCount = 0; } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { - if (contactDebugCount < contactDebug.size()) contactDebug[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; } @@ -172,7 +174,8 @@ public: void update_gravity(); - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result); + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::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, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin); private: void create_empty_world(bool p_create_soft_world); @@ -206,5 +209,7 @@ private: /// This is an API that recover a kinematic object from penetration /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm bool 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 = NULL); + + int 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, PhysicsServer::SeparationResult *r_results); }; #endif |