From a42765dadad77d4f4893d9ccf73b7cfefc1643bd Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Mon, 5 Feb 2018 18:20:26 +0100 Subject: Added physics API in order to enable/disable collisions between rigidbody attached to a joint with bullet physics bullet Fixes #16424 --- servers/physics/constraint_sw.h | 5 +++++ servers/physics/physics_server_sw.cpp | 27 ++++++++++++++++++++++++++ servers/physics/physics_server_sw.h | 3 +++ servers/physics_2d/constraint_2d_sw.h | 5 +++++ servers/physics_2d/physics_2d_server_sw.cpp | 27 ++++++++++++++++++++++++++ servers/physics_2d/physics_2d_server_sw.h | 3 +++ servers/physics_2d/physics_2d_server_wrap_mt.h | 3 +++ servers/physics_2d_server.h | 3 +++ servers/physics_server.h | 3 +++ 9 files changed, 79 insertions(+) (limited to 'servers') diff --git a/servers/physics/constraint_sw.h b/servers/physics/constraint_sw.h index a641f06f0c..41789600f6 100644 --- a/servers/physics/constraint_sw.h +++ b/servers/physics/constraint_sw.h @@ -41,6 +41,7 @@ class ConstraintSW : public RID_Data { ConstraintSW *island_next; ConstraintSW *island_list_next; int priority; + bool disabled_collisions_between_bodies; RID self; @@ -50,6 +51,7 @@ protected: _body_count = p_body_count; island_step = 0; priority = 1; + disabled_collisions_between_bodies = true; } public: @@ -71,6 +73,9 @@ public: _FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; } _FORCE_INLINE_ int get_priority() const { return priority; } + _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + virtual bool setup(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp index ea0d372281..0f7c6deaac 100644 --- a/servers/physics/physics_server_sw.cpp +++ b/servers/physics/physics_server_sw.cpp @@ -1093,6 +1093,33 @@ int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const { return joint->get_priority(); } +void PhysicsServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + JointSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + BodySW *body_a = *joint->get_body_ptr(); + BodySW *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool PhysicsServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + JointSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const { JointSW *joint = joint_owner.get(p_joint); diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h index 132ac78968..923b59d28f 100644 --- a/servers/physics/physics_server_sw.h +++ b/servers/physics/physics_server_sw.h @@ -275,6 +275,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority); virtual int joint_get_solver_priority(RID p_joint) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + /* MISC */ virtual void free(RID p_rid); diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h index a08037bb37..c1954935d3 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/constraint_2d_sw.h @@ -40,6 +40,7 @@ class Constraint2DSW : public RID_Data { uint64_t island_step; Constraint2DSW *island_next; Constraint2DSW *island_list_next; + bool disabled_collisions_between_bodies; RID self; @@ -48,6 +49,7 @@ protected: _body_ptr = p_body_ptr; _body_count = p_body_count; island_step = 0; + disabled_collisions_between_bodies = true; } public: @@ -66,6 +68,9 @@ public: _FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; } _FORCE_INLINE_ int get_body_count() const { return _body_count; } + _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + virtual bool setup(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp index 7d7bbbebac..0603287a79 100644 --- a/servers/physics_2d/physics_2d_server_sw.cpp +++ b/servers/physics_2d/physics_2d_server_sw.cpp @@ -1015,6 +1015,33 @@ real_t Physics2DServerSW::joint_get_param(RID p_joint, JointParam p_param) const return 0; } +void Physics2DServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + Joint2DSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + Body2DSW *body_a = *joint->get_body_ptr(); + Body2DSW *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool Physics2DServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + const Joint2DSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + RID Physics2DServerSW::pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b) { Body2DSW *A = body_owner.get(p_body_a); diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h index 97edb85582..cf9c2957bf 100644 --- a/servers/physics_2d/physics_2d_server_sw.h +++ b/servers/physics_2d/physics_2d_server_sw.h @@ -242,6 +242,9 @@ public: virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value); virtual real_t joint_get_param(RID p_joint, JointParam p_param) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disabled); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + virtual RID pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b = RID()); virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b); virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID()); diff --git a/servers/physics_2d/physics_2d_server_wrap_mt.h b/servers/physics_2d/physics_2d_server_wrap_mt.h index 276c37c577..d625bc9892 100644 --- a/servers/physics_2d/physics_2d_server_wrap_mt.h +++ b/servers/physics_2d/physics_2d_server_wrap_mt.h @@ -263,6 +263,9 @@ public: FUNC3(joint_set_param, RID, JointParam, real_t); FUNC2RC(real_t, joint_get_param, RID, JointParam); + FUNC2(joint_disable_collisions_between_bodies, RID, const bool); + FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID); + ///FUNC3RID(pin_joint,const Vector2&,RID,RID); ///FUNC5RID(groove_joint,const Vector2&,const Vector2&,const Vector2&,RID,RID); ///FUNC4RID(damped_spring_joint,const Vector2&,const Vector2&,RID,RID); diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h index be447ed137..462244c667 100644 --- a/servers/physics_2d_server.h +++ b/servers/physics_2d_server.h @@ -499,6 +499,9 @@ public: virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value) = 0; virtual real_t joint_get_param(RID p_joint, JointParam p_param) const = 0; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; + virtual RID pin_joint_create(const Vector2 &p_anchor, RID p_body_a, RID p_body_b = RID()) = 0; virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) = 0; virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID()) = 0; diff --git a/servers/physics_server.h b/servers/physics_server.h index 94fc8d479d..2ac405293e 100644 --- a/servers/physics_server.h +++ b/servers/physics_server.h @@ -491,6 +491,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; virtual int joint_get_solver_priority(RID p_joint) const = 0; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; enum PinJointParam { -- cgit v1.2.3