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-rw-r--r--modules/bullet/SCsub6
-rw-r--r--modules/bullet/area_bullet.cpp7
-rw-r--r--modules/bullet/bullet_types_converter.cpp2
-rw-r--r--modules/bullet/collision_object_bullet.cpp4
-rw-r--r--modules/bullet/godot_collision_configuration.cpp56
-rw-r--r--modules/bullet/godot_collision_configuration.h13
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp2
-rw-r--r--modules/bullet/godot_result_callbacks.h15
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp5
-rw-r--r--modules/bullet/rigid_body_bullet.cpp29
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/slider_joint_bullet.cpp1
-rw-r--r--modules/bullet/soft_body_bullet.cpp8
-rw-r--r--modules/bullet/space_bullet.cpp64
-rw-r--r--modules/bullet/space_bullet.h6
15 files changed, 152 insertions, 68 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 2557e8cb1d..11ce18449b 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -186,8 +186,12 @@ if env['builtin_bullet']:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
- env_bullet.add_source_files(env.modules_sources, thirdparty_sources)
env_bullet.Append(CPPPATH=[thirdparty_dir])
+ env_thirdparty = env_bullet.Clone()
+ env_thirdparty.disable_warnings()
+ env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources)
+
+
# Godot source files
env_bullet.add_source_files(env.modules_sources, "*.cpp")
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index 3200b4a214..a3ba3aa0bf 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -46,7 +46,6 @@
AreaBullet::AreaBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA),
monitorable(true),
- isScratched(false),
spOv_mode(PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED),
spOv_gravityPoint(false),
spOv_gravityPointDistanceScale(0),
@@ -55,7 +54,8 @@ AreaBullet::AreaBullet() :
spOv_gravityMag(10),
spOv_linearDump(0.1),
spOv_angularDump(1),
- spOv_priority(0) {
+ spOv_priority(0),
+ isScratched(false) {
btGhost = bulletnew(btGhostObject);
btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
@@ -94,6 +94,9 @@ void AreaBullet::dispatch_callbacks() {
otherObj.object->on_exit_area(this);
overlappingObjects.remove(i); // Remove after callback
break;
+ case OVERLAP_STATE_DIRTY:
+ case OVERLAP_STATE_INSIDE:
+ break;
}
}
}
diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp
index a0fe598227..f9b7126173 100644
--- a/modules/bullet/bullet_types_converter.cpp
+++ b/modules/bullet/bullet_types_converter.cpp
@@ -28,8 +28,6 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
-#pragma once
-
#include "bullet_types_converter.h"
/**
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index df67f8d7ab..61834b8e3f 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -66,13 +66,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
- space(NULL),
type(p_type),
collisionsEnabled(true),
m_isStatic(false),
bt_collision_object(NULL),
body_scale(1., 1., 1.),
- force_shape_reset(false) {}
+ force_shape_reset(false),
+ space(NULL) {}
CollisionObjectBullet::~CollisionObjectBullet() {
// Remove all overlapping, notify is not required since godot take care of it
diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp
index f4bb9acbd7..919c3152d7 100644
--- a/modules/bullet/godot_collision_configuration.cpp
+++ b/modules/bullet/godot_collision_configuration.cpp
@@ -94,3 +94,59 @@ btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getClosestPointsAlg
return btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1);
}
}
+
+GodotSoftCollisionConfiguration::GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) :
+ btSoftBodyRigidBodyCollisionConfiguration(constructionInfo) {
+
+ void *mem = NULL;
+
+ mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16);
+ m_rayWorldCF = new (mem) GodotRayWorldAlgorithm::CreateFunc(world);
+
+ mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::SwappedCreateFunc), 16);
+ m_swappedRayWorldCF = new (mem) GodotRayWorldAlgorithm::SwappedCreateFunc(world);
+}
+
+GodotSoftCollisionConfiguration::~GodotSoftCollisionConfiguration() {
+ m_rayWorldCF->~btCollisionAlgorithmCreateFunc();
+ btAlignedFree(m_rayWorldCF);
+
+ m_swappedRayWorldCF->~btCollisionAlgorithmCreateFunc();
+ btAlignedFree(m_swappedRayWorldCF);
+}
+
+btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) {
+
+ if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
+
+ // This collision is not supported
+ return m_emptyCreateFunc;
+ } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
+
+ return m_rayWorldCF;
+ } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
+
+ return m_swappedRayWorldCF;
+ } else {
+
+ return btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
+ }
+}
+
+btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) {
+
+ if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
+
+ // This collision is not supported
+ return m_emptyCreateFunc;
+ } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) {
+
+ return m_rayWorldCF;
+ } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) {
+
+ return m_swappedRayWorldCF;
+ } else {
+
+ return btSoftBodyRigidBodyCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1);
+ }
+}
diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h
index 9b30ad0c62..11012c5f6d 100644
--- a/modules/bullet/godot_collision_configuration.h
+++ b/modules/bullet/godot_collision_configuration.h
@@ -32,6 +32,7 @@
#define GODOT_COLLISION_CONFIGURATION_H
#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
+#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
/**
@author AndreaCatania
@@ -50,4 +51,16 @@ public:
virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
};
+
+class GodotSoftCollisionConfiguration : public btSoftBodyRigidBodyCollisionConfiguration {
+ btCollisionAlgorithmCreateFunc *m_rayWorldCF;
+ btCollisionAlgorithmCreateFunc *m_swappedRayWorldCF;
+
+public:
+ GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo = btDefaultCollisionConstructionInfo());
+ virtual ~GodotSoftCollisionConfiguration();
+
+ virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
+ virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
+};
#endif
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 53d0ab7e3c..27ee44d1bd 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -49,9 +49,9 @@ GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDyn
GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+ m_world(world),
m_manifoldPtr(mf),
m_ownManifold(false),
- m_world(world),
m_isSwapped(isSwapped) {}
GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 8e70b72841..73e1fc9627 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -87,13 +87,13 @@ struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallb
public:
PhysicsDirectSpaceState::ShapeResult *m_results;
int m_resultMax;
- int count;
const Set<RID> *m_exclude;
+ int count;
GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) :
m_results(p_results),
- m_exclude(p_exclude),
m_resultMax(p_resultMax),
+ m_exclude(p_exclude),
count(0) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -125,6 +125,7 @@ public:
GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
m_exclude(p_exclude),
+ m_shapeId(0),
collide_with_bodies(p_collide_with_bodies),
collide_with_areas(p_collide_with_areas) {}
@@ -138,8 +139,8 @@ public:
const btCollisionObject *m_self_object;
PhysicsDirectSpaceState::ShapeResult *m_results;
int m_resultMax;
- int m_count;
const Set<RID> *m_exclude;
+ int m_count;
bool collide_with_bodies;
bool collide_with_areas;
@@ -147,8 +148,8 @@ public:
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_exclude(p_exclude),
m_count(0),
collide_with_bodies(p_collide_with_bodies),
collide_with_areas(p_collide_with_areas) {}
@@ -164,8 +165,8 @@ public:
const btCollisionObject *m_self_object;
Vector3 *m_results;
int m_resultMax;
- int m_count;
const Set<RID> *m_exclude;
+ int m_count;
bool collide_with_bodies;
bool collide_with_areas;
@@ -173,8 +174,8 @@ public:
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_exclude(p_exclude),
m_count(0),
collide_with_bodies(p_collide_with_bodies),
collide_with_areas(p_collide_with_areas) {}
@@ -188,11 +189,11 @@ struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResu
public:
const btCollisionObject *m_self_object;
PhysicsDirectSpaceState::ShapeRestInfo *m_result;
+ const Set<RID> *m_exclude;
bool m_collided;
real_t m_min_distance;
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;
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index 86c6a632cd..3a4459a581 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -117,7 +117,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
hingeConstraint->setMaxMotorImpulse(p_value);
break;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
WARN_DEPRECATED
break;
}
@@ -143,7 +143,7 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
WARN_DEPRECATED;
return 0;
}
@@ -159,6 +159,7 @@ void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_val
case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:
hingeConstraint->enableMotor(p_value);
break;
+ case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f81cfe84fb..d9a77885b3 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -259,21 +259,21 @@ RigidBodyBullet::RigidBodyBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY),
kinematic_utilities(NULL),
locked_axis(0),
- gravity_scale(1),
mass(1),
+ gravity_scale(1),
linearDamp(0),
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
- force_integration_callback(NULL),
- isTransformChanged(false),
- previousActiveState(true),
maxCollisionsDetection(0),
collisionsCount(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
- isScratchedSpaceOverrideModificator(false) {
+ isScratchedSpaceOverrideModificator(false),
+ isTransformChanged(false),
+ previousActiveState(true),
+ force_integration_callback(NULL) {
godotMotionState = bulletnew(GodotMotionState(this));
@@ -351,7 +351,7 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
- if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
+ if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
if (omit_forces_integration)
btBody->clearForces();
@@ -535,20 +535,18 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
reload_axis_lock();
_internal_set_mass(0);
break;
- case PhysicsServer::BODY_MODE_RIGID: {
+ case PhysicsServer::BODY_MODE_RIGID:
mode = PhysicsServer::BODY_MODE_RIGID;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- }
- case PhysicsServer::BODY_MODE_CHARACTER: {
+ case PhysicsServer::BODY_MODE_CHARACTER:
mode = PhysicsServer::BODY_MODE_CHARACTER;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- }
}
btBody->setAngularVelocity(btVector3(0, 0, 0));
@@ -774,10 +772,13 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
+ if (space)
+ btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
// The kinematic use MotionState class
godotMotionState->moveBody(p_global_transform);
}
btBody->setWorldTransform(p_global_transform);
+ scratch();
}
const btTransform &RigidBodyBullet::get_transform__bullet() const {
@@ -924,10 +925,10 @@ void RigidBodyBullet::reload_space_override_modificator() {
}
switch (currentArea->get_spOv_mode()) {
- ///case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED:
- /// This area does not affect gravity/damp. These are generally areas
- /// that exist only to detect collisions, and objects entering or exiting them.
- /// break;
+ case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED:
+ /// This area does not affect gravity/damp. These are generally areas
+ /// that exist only to detect collisions, and objects entering or exiting them.
+ break;
case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE:
/// This area adds its gravity/damp values to whatever has been
/// calculated so far. This way, many overlapping areas can combine
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index cd2f215906..25dac30951 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -227,7 +227,7 @@ public:
void init_kinematic_utilities();
void destroy_kinematic_utilities();
- _FORCE_INLINE_ class KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
+ _FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
index 9e1cd23989..9016ec3bf5 100644
--- a/modules/bullet/slider_joint_bullet.cpp
+++ b/modules/bullet/slider_joint_bullet.cpp
@@ -366,6 +366,7 @@ void SliderJointBullet::set_param(PhysicsServer::SliderJointParam p_param, real_
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoAng(p_value); break;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoAng(p_value); break;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: setDampingOrthoAng(p_value); break;
+ case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning
}
}
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 9fc7230f91..f373ce5db4 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -37,17 +37,17 @@
SoftBodyBullet::SoftBodyBullet() :
CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY),
- total_mass(1),
+ bt_soft_body(NULL),
+ isScratched(false),
simulation_precision(5),
+ total_mass(1.),
linear_stiffness(0.5),
areaAngular_stiffness(0.5),
volume_stiffness(0.5),
pressure_coefficient(0.),
pose_matching_coefficient(0.),
damping_coefficient(0.01),
- drag_coefficient(0.),
- bt_soft_body(NULL),
- isScratched(false) {}
+ drag_coefficient(0.) {}
SoftBodyBullet::~SoftBodyBullet() {
}
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 5b220e1039..ba4c72f4c7 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -150,14 +150,14 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &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) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
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);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
- return 0;
+ return false;
}
btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
@@ -177,10 +177,13 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
+ r_closest_unsafe = 1.0;
+ r_closest_safe = 1.0;
+
if (btResult.hasHit()) {
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);
+ r_closest_unsafe = btResult.m_closestHitFraction;
+ r_closest_safe = MAX(r_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);
@@ -195,7 +198,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
}
bulletdelete(bt_convex_shape);
- return btResult.hasHit();
+ return true; // Mean success
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
@@ -329,16 +332,17 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
SpaceBullet::SpaceBullet() :
broadphase(NULL),
+ collisionConfiguration(NULL),
dispatcher(NULL),
solver(NULL),
- collisionConfiguration(NULL),
dynamicsWorld(NULL),
soft_body_world_info(NULL),
ghostPairCallback(NULL),
godotFilterCallback(NULL),
gravityDirection(0, -1, 0),
gravityMagnitude(10),
- contactDebugCount(0) {
+ contactDebugCount(0),
+ delta_time(0.) {
create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true));
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
@@ -577,7 +581,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
}
if (p_create_soft_world) {
- collisionConfiguration = bulletnew(btSoftBodyRigidBodyCollisionConfiguration);
+ collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
} else {
collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
}
@@ -786,30 +790,32 @@ void SpaceBullet::check_body_collision() {
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- 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, 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, appliedImpulse * -1, pt.m_index0, pt.m_index1);
- }
+ if (pt.getDistance() <= 0.0) {
+ 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, 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, appliedImpulse * -1, pt.m_index0, pt.m_index1);
+ }
#ifdef DEBUG_ENABLED
- if (is_debugging_contacts()) {
- add_debug_contact(collisionWorldPosition);
- }
+ if (is_debugging_contacts()) {
+ add_debug_contact(collisionWorldPosition);
+ }
#endif
+ }
}
}
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 0649e1f7e3..c3d55cbbb1 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -57,7 +57,7 @@ class btDiscreteDynamicsWorld;
class btEmptyShape;
class btGhostPairCallback;
class btSoftRigidDynamicsWorld;
-class btSoftBodyWorldInfo;
+struct btSoftBodyWorldInfo;
class ConstraintBullet;
class CollisionObjectBullet;
class RigidBodyBullet;
@@ -78,7 +78,7 @@ public:
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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);
+ virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = 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, 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);
@@ -96,9 +96,9 @@ class SpaceBullet : public RIDBullet {
btCollisionDispatcher *dispatcher;
btConstraintSolver *solver;
btDiscreteDynamicsWorld *dynamicsWorld;
+ btSoftBodyWorldInfo *soft_body_world_info;
btGhostPairCallback *ghostPairCallback;
GodotFilterCallback *godotFilterCallback;
- btSoftBodyWorldInfo *soft_body_world_info;
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
btVoronoiSimplexSolver *gjk_simplex_solver;
generated by cgit v1.2.3 (git 2.39.1) at 2026-02-01 05:36:06 +0000