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-rw-r--r--modules/bullet/godot_collision_configuration.cpp56
-rw-r--r--modules/bullet/godot_collision_configuration.h13
-rw-r--r--modules/bullet/space_bullet.cpp15
-rw-r--r--modules/bullet/space_bullet.h2
4 files changed, 79 insertions, 7 deletions
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/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 404cb8e37b..329e12cfff 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
@@ -577,7 +580,7 @@ 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)));
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 0649e1f7e3..67ab5c610d 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -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);
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-25 17:07:01 +0000