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path: root/modules/bullet/space_bullet.h
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2019-06-19Made use of semicolons more consitent, fixed formattingJohnJLight
2019-03-27KinematicBody performance and quality improvementsDaniel Rakos
With this change finally one can use compound collisions (like those created by Gridmaps) without serious performance issues. The previous KinematicBody code for Bullet was practically doing a whole bunch of unnecessary calculations. Gridmaps with fairly large octant sizes (in my case 32) can get up to 10000x speedup with this change (literally!). I expect the FPS demo to get a fair speedup as well. List of fixes and improvements: - Fixed a general bug in move_and_slide that affects both GodotPhysics and Bullet, where ray shapes would be ignored unless the stop_on_slope parameter is disabled. Not sure where that came from, but looking at the 2D physics code it was obvious there's a difference. - Enabled the dynamic AABB tree that Bullet uses to allow broadphase collision tests against individual shapes of compound shapes. This is crucial to get good performance with Gridmaps and in general improves the performance whenever a KinematicBody collides with compound collision shapes. - Added code to the broadphase collision detection code used by the Bullet module for KinematicBodies to also do broadphase on the sub-shapes of compound collision shapes. This is possible thanks to the dynamic AABB tree that was previously disabled and it's the change that provides the biggest performance boost. - Now broadphase test is only done once per KinematicBody in Bullet instead of once per each of its shapes which was completely unnecessary. - Fixed the way how the ray separation results are populated in Bullet which was completely broken previously, overwriting previous results and similar non-sense. - Fixed ray shapes for good now. Previously the margin set in the editor was not respected at all, and the KinematicBody code for ray separation was complete bogus, thus all previous attempts to fix it were mislead. - Fixed an obvious bug also in GodotPhysics where an out-of-bounds index was used in the ray result array. There are a whole set of other problems with the KinematicBody code of Bullet which cost performance and may cause unexpected behavior, but those are not addressed in this change (need to keep it "simple"). Not sure whether this fixes any outstanding Github issues but I wouldn't be surprised.
2019-02-19Fix RayShape collision when used with a KinematicBody (Bullet Physics)Daniel Rakos
- Added code handling non-compound collision to recover_from_penetration_ray() which is now needed due to the optimization avoiding the use of compound collisions when only a single collision shape is used. - Removed arbitrary margin applied in the collision algorithm of RayShapes which causes jittered movement. For lack of a better replacement and for lack of any explanation on why it has been introduced, it's now using the shape's margin property instead which is small enough to not show visible jitter. - Tried to get rid of inconsistent uses of the collision margin. - Removed hack from GodotDeepPenetrationContactResultCallback::addContactPoint for RayShape collision as it's no longer needed as the collision algorithm of RayShapes correctly calculates the contact normal for a while now. Fixes #25227.
2019-01-01Update copyright statements to 2019Rémi Verschelde
Happy new year to the wonderful Godot community!
2018-10-01Fix mismatched class/struct definition warnings [-Wmismatched-tags]Rémi Verschelde
Fixes the following Clang 7 warnings: ``` core/object.cpp:44:1: warning: '_ObjectDebugLock' defined as a struct here but previously declared as a class [-Wmismatched-tags] core/variant_call.cpp:43:1: warning: '_VariantCall' defined as a struct here but previously declared as a class [-Wmismatched-tags] drivers/gles3/rasterizer_storage_gles3.h:765:2: warning: 'MultiMesh' defined as a struct here but previously declared as a class [-Wmismatched-tags] editor/editor_node.h:794:1: warning: 'EditorProgress' defined as a struct here but previously declared as a class [-Wmismatched-tags] modules/bullet/rigid_body_bullet.h:230:17: warning: class 'KinematicUtilities' was previously declared as a struct [-Wmismatched-tags] modules/bullet/space_bullet.h:60:1: warning: class 'btSoftBodyWorldInfo' was previously declared as a struct [-Wmismatched-tags] scene/resources/world_2d.cpp:40:1: warning: 'SpatialIndexer2D' defined as a struct here but previously declared as a class [-Wmismatched-tags] scene/resources/world.cpp:39:1: warning: 'SpatialIndexer' defined as a struct here but previously declared as a class [-Wmismatched-tags] servers/audio/reverb_sw.cpp:60:1: warning: 'ReverbParamsSW' defined as a struct here but previously declared as a class [-Wmismatched-tags] thirdparty/bullet/BulletSoftBody/btSoftBody.h:43:1: warning: 'btSoftBodyWorldInfo' defined as a struct here but previously declared as a class [-Wmismatched-tags] ```
2018-09-28Fix warnings about wrong member initialization order [-Wreorder]Rémi Verschelde
Fixes the following GCC 5 warnings: ``` core/object.h:193:11: warning: 'MethodInfo::flags' will be initialized after [-Wreorder] core/object.h:192:15: warning: 'PropertyInfo MethodInfo::return_val' [-Wreorder] core/object.cpp:278:1: warning: when initialized here [-Wreorder] core/script_debugger_remote.h:97:6: warning: 'ScriptDebuggerRemote::max_cps' will be initialized after [-Wreorder] core/script_debugger_remote.h:91:6: warning: 'int ScriptDebuggerRemote::max_messages_per_frame' [-Wreorder] core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder] core/script_debugger_remote.h:98:6: warning: 'ScriptDebuggerRemote::char_count' will be initialized after [-Wreorder] core/script_debugger_remote.h:92:6: warning: 'int ScriptDebuggerRemote::n_messages_dropped' [-Wreorder] core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder] modules/bullet/area_bullet.h:102:7: warning: 'AreaBullet::isScratched' will be initialized after [-Wreorder] modules/bullet/area_bullet.h:92:39: warning: 'PhysicsServer::AreaSpaceOverrideMode AreaBullet::spOv_mode' [-Wreorder] modules/bullet/area_bullet.cpp:46:1: warning: when initialized here [-Wreorder] modules/bullet/collision_object_bullet.h:127:15: warning: 'CollisionObjectBullet::space' will be initialized after [-Wreorder] modules/bullet/collision_object_bullet.h:117:7: warning: 'CollisionObjectBullet::Type CollisionObjectBullet::type' [-Wreorder] modules/bullet/collision_object_bullet.cpp:67:1: warning: when initialized here [-Wreorder] modules/bullet/godot_ray_world_algorithm.h:48:7: warning: 'GodotRayWorldAlgorithm::m_ownManifol1d' will be initialized after [-Wreorder] modules/bullet/godot_ray_world_algorithm.h:46:33: warning: 'const btDiscreteDynamicsWorld* GodotRayWorldAlgorithm::m_world' [-Wreorder] modules/bullet/godot_ray_world_algorithm.cpp:50:1: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:91:18: warning: 'GodotAllConvexResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:89:6: warning: 'int GodotAllConvexResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:93:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:142:18: warning: 'GodotAllContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:140:6: warning: 'int GodotAllContactResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:147:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:168:18: warning: 'GodotContactPairContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:166:6: warning: 'int GodotContactPairContactResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:173:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:195:18: warning: 'GodotRestInfoContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:191:7: warning: 'bool GodotRestInfoContactResultCallback::m_collided' [-Wreorder] modules/bullet/godot_result_callbacks.h:199:2: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:200:9: warning: 'RigidBodyBullet::gravity_scale' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:199:9: warning: 'real_t RigidBodyBullet::mass' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:222:28: warning: 'RigidBodyBullet::force_integration_callback' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:219:7: warning: 'bool RigidBodyBullet::isTransformChanged' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:220:7: warning: 'RigidBodyBullet::previousActiveState' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:208:6: warning: 'int RigidBodyBullet::maxCollisionsDetection' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/soft_body_bullet.h:69:9: warning: 'SoftBodyBullet::total_mass' will be initialized after [-Wreorder] modules/bullet/soft_body_bullet.h:68:6: warning: 'int SoftBodyBullet::simulation_precision' [-Wreorder] modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder] modules/bullet/soft_body_bullet.h:76:9: warning: 'SoftBodyBullet::drag_coefficient' will be initialized after [-Wreorder] modules/bullet/soft_body_bullet.h:61:14: warning: 'btSoftBody* SoftBodyBullet::bt_soft_body' [-Wreorder] modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder] modules/bullet/space_bullet.h:97:22: warning: 'SpaceBullet::solver' will be initialized after [-Wreorder] modules/bullet/space_bullet.h:95:35: warning: 'btDefaultCollisionConfiguration* SpaceBullet::collisionConfiguration' [-Wreorder] modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder] modules/bullet/space_bullet.h:101:23: warning: 'SpaceBullet::soft_body_world_info' will be initialized after [-Wreorder] modules/bullet/space_bullet.h:99:23: warning: 'btGhostPairCallback* SpaceBullet::ghostPairCallback' [-Wreorder] modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder] modules/gdnative/nativescript/nativescript.h:79:13: warning: 'NativeScriptDesc::base_native_type' will be initialized after [-Wreorder] modules/gdnative/nativescript/nativescript.h:73:9: warning: 'String NativeScriptDesc::documentation' [-Wreorder] modules/gdnative/nativescript/nativescript.h:88:9: warning: when initialized here [-Wreorder] modules/gdscript/gdscript.h:296:6: warning: 'GDScriptWarning::line' will be initialized after [-Wreorder] modules/gdscript/gdscript.h:294:4: warning: 'GDScriptWarning::Code GDScriptWarning::code' [-Wreorder] modules/gdscript/gdscript.h:303:2: warning: when initialized here [-Wreorder] scene/3d/physics_body.h:544:7: warning: 'PhysicalBone::simulate_physics' will be initialized after [-Wreorder] scene/3d/physics_body.h:543:7: warning: 'bool PhysicalBone::_internal_static_body' [-Wreorder] scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder] scene/3d/physics_body.h:546:6: warning: 'PhysicalBone::bone_id' will be initialized after [-Wreorder] scene/3d/physics_body.h:539:12: warning: 'Skeleton* PhysicalBone::parent_skeleton' [-Wreorder] scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder] scene/3d/spring_arm.h:44:11: warning: 'SpringArm::mask' will be initialized after [-Wreorder] scene/3d/spring_arm.h:43:8: warning: 'float SpringArm::current_spring_length' [-Wreorder] scene/3d/spring_arm.cpp:37:1: warning: when initialized here [-Wreorder] scene/animation/skeleton_ik.h:159:11: warning: 'SkeletonIK::target_node_override' will be initialized after [-Wreorder] scene/animation/skeleton_ik.h:152:7: warning: 'bool SkeletonIK::use_magnet' [-Wreorder] scene/animation/skeleton_ik.cpp:418:1: warning: when initialized here [-Wreorder] scene/resources/tile_set.h:84:9: warning: 'TileSet::AutotileData::size' will be initialized after [-Wreorder] scene/resources/tile_set.h:83:7: warning: 'int TileSet::AutotileData::spacing' [-Wreorder] scene/resources/tile_set.h:92:12: warning: when initialized here [-Wreorder] scene/resources/tile_set.h:115:12: warning: 'TileSet::TileData::tile_mode' will be initialized after [-Wreorder] scene/resources/tile_set.h:114:9: warning: 'Color TileSet::TileData::modulate' [-Wreorder] scene/resources/tile_set.h:120:12: warning: when initialized here [-Wreorder] servers/physics/body_sw.h:84:19: warning: 'BodySW::direct_state_query_list' will be initialized after [-Wreorder] servers/physics/body_sw.h:57:11: warning: 'uint16_t BodySW::locked_axis' [-Wreorder] servers/physics/body_sw.cpp:756:1: warning: when initialized here [-Wreorder] ``` Nothing really relevant for us, but it's not a bad consistency improvement anyway so worth taking.
2018-09-22Corrected cast_motion query behaviourAndrea Catania
2018-09-06Fixing trimesh precisionAndrea Catania
2018-08-21Added ray / shape / point / motion / rest cast exclusion of area and or bodyAndrea Catania
2018-08-20Fixes to move and slide and ray separation, implement separation in Godot ↵Juan Linietsky
physics
2018-08-19Added ray shape and move_and_slide with snapping on 3D.Andrea Catania
Added stop_on_slope on 2d part
2018-07-26Reduce unnecessary COW on Vector by make writing explicitHein-Pieter van Braam
This commit makes operator[] on Vector const and adds a write proxy to it. From now on writes to Vectors need to happen through the .write proxy. So for instance: Vector<int> vec; vec.push_back(10); std::cout << vec[0] << std::endl; vec.write[0] = 20; Failing to use the .write proxy will cause a compilation error. In addition COWable datatypes can now embed a CowData pointer to their data. This means that String, CharString, and VMap no longer use or derive from Vector. _ALWAYS_INLINE_ and _FORCE_INLINE_ are now equivalent for debug and non-debug builds. This is a lot faster for Vector in the editor and while running tests. The reason why this difference used to exist is because force-inlined methods used to give a bad debugging experience. After extensive testing with modern compilers this is no longer the case.
2018-07-23Implemented Soft bodyAndreaCatania
- Soft Body Physics node - Soft Body Rendering - Soft body Editor - Soft body importer
2018-02-20Improved kinematic body 2D and 3D, Now can move rigid bodyAndrea Catania
2018-02-01Fix inconsistencies and typos in argument namesPaolo Perkovic
2018-01-08Fixed Bullet collision shapes scaleAndreaCatania
2018-01-05Add missing copyright headers and fix formattingRémi Verschelde
Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04Merge pull request #13257 from AndreaCatania/masterRémi Verschelde
Fixed kinematic movement stuck, Changed how shape scale works.
2018-01-01Update copyright statements to 2018Rémi Verschelde
Happy new year to the wonderful Godot community!
2017-12-23Fixed kinematic movement stuck, Changed how shape scale works, OptimizedAndreaCatania
2017-12-07Style: Apply new clang-format 5.0 style to all filesRémi Verschelde
2017-11-21Removed type_mask and fixed some variable nameAndreaCatania
2017-11-19Fixed kinematic movement on concave shapeAndreaCatania
2017-11-09Merge pull request #12713 from AndreaCatania/masterJuan Linietsky
Rewritten kinematic system
2017-11-07Fixed collision exception - #12681AndreaCatania
2017-11-07Rewritten kinematic systemAndreaCatania
2017-11-04Bullet physics engine implementationAndreaCatania
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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